+ python -m lidar_slam --result /working/result.json --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters Centerline goodness : 0.231603 with order 1 Centerline is valid? [0, False] SLAMing on 0.077105681 meters Centerline goodness : 0.793230 with order 3 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.04 [[ 0.99603781 -0.0538775 -0.0707523 0.04618013] [ 0.04914655 0.99654278 -0.06698589 0.00211774] [ 0.07411672 0.06324324 0.99524218 -0.03985805] [ 0. 0. 0. 1. ]] SLAMing on 0.137105681 meters Centerline goodness : 0.233930 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.01 [[ 0.97488761 -0.20099869 -0.09588361 0.17938646] [ 0.20367017 0.9788583 0.01883832 0.02890028] [ 0.09006999 -0.03789388 0.99521427 -0.0137495 ] [ 0. 0. 0. 1. ]] SLAMing on 0.197105681 meters Centerline goodness : 0.933571 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:0.06, Z:-0.03 [[ 0.97384048 -0.21705254 -0.06725262 0.30102791] [ 0.22182649 0.97225557 0.07424362 0.06399698] [ 0.04927197 -0.08721986 0.99496983 -0.02866819] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters Centerline goodness : 0.173196 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.01 [[ 0.97470321 -0.20987744 -0.07684479 0.37146411] [ 0.2136795 0.97586432 0.04505437 0.04512359] [ 0.0655342 -0.0603348 0.99602459 -0.01184298] [ 0. 0. 0. 1. ]] SLAMing on 0.317105681 meters Centerline goodness : 0.276776 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.00, Z:0.01 [[ 9.76503597e-01 -2.00826082e-01 -7.81639992e-02 4.49500237e-01] [ 2.06204152e-01 9.76133682e-01 6.81387024e-02 -1.80186287e-04] [ 6.26144837e-02 -8.26554292e-02 9.94609223e-01 1.39894247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37710568099999997 meters Centerline goodness : 0.180322 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:0.03 [[ 0.98118862 -0.18353885 -0.05985296 0.45201529] [ 0.1859417 0.98185017 0.03736199 -0.02677208] [ 0.05190927 -0.04778832 0.99750775 0.03267121] [ 0. 0. 0. 1. ]] SLAMing on 0.43710568099999997 meters Centerline goodness : 0.148944 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:0.03 [[ 0.97045612 -0.2258832 -0.08480392 0.47705047] [ 0.22766489 0.97366762 0.01183464 0.00665018] [ 0.07989758 -0.03079187 0.99632737 0.03162642] [ 0. 0. 0. 1. ]] SLAMing on 0.49710568099999997 meters Centerline goodness : 0.944781 with order 2 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.02, Z:0.04 [[ 0.97483841 -0.20424528 -0.08929689 0.53224768] [ 0.20404356 0.9788945 -0.01147944 -0.01860116] [ 0.08975686 -0.00702985 0.9959389 0.03557465] [ 0. 0. 0. 1. ]] SLAMing on 0.557105681 meters Centerline goodness : 0.949272 with order 2 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.03 [[ 0.96731559 -0.22046 -0.1252914 0.59269111] [ 0.22326036 0.974721 0.00858992 -0.07579529] [ 0.12023043 -0.03628176 0.9920828 0.02506382] [ 0. 0. 0. 1. ]] SLAMing on 0.617105681 meters Centerline goodness : 0.960961 with order 1 Centerline is valid? [False, True] Translation: X:0.62, Y:-0.10, Z:0.04 [[ 0.97479155 -0.19091975 -0.11546034 0.62283803] [ 0.19655087 0.97970072 0.03942399 -0.10432983] [ 0.10558976 -0.061124 0.99252943 0.03927431] [ 0. 0. 0. 1. ]] SLAMing on 0.6771056809999999 meters Centerline goodness : 0.964890 with order 1 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.02, Z:0.07 [[ 0.96895885 -0.22499917 -0.1024408 0.66440131] [ 0.22392173 0.97435768 -0.02204915 -0.02172295] [ 0.10477502 -0.001574 0.9944947 0.06696106] [ 0. 0. 0. 1. ]] SLAMing on 0.737105681 meters Centerline goodness : 0.205585 with order 3 Centerline is valid? [True, False] Translation: X:0.68, Y:0.15, Z:0.09 [[ 0.96830631 -0.22973612 -0.0980011 0.68062327] [ 0.22542684 0.97281002 -0.05313576 0.14999932] [ 0.10754365 0.02935961 0.99376676 0.08686151] [ 0. 0. 0. 1. ]] SLAMing on 0.797105681 meters Centerline goodness : 0.131730 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.34, Z:0.09 [[ 0.96545811 -0.23947339 -0.10267974 0.70603828] [ 0.23033857 0.96862885 -0.09328608 0.34311451] [ 0.12179809 0.0664127 0.99033054 0.09370727] [ 0. 0. 0. 1. ]] SLAMing on 0.857105681 meters Centerline goodness : 0.987532 with order 1 Centerline is valid? [False, True] Translation: X:0.67, Y:0.24, Z:0.19 [[ 0.97498254 -0.22123725 -0.02152058 0.66607066] [ 0.2093237 0.94640608 -0.2459657 0.24228484] [ 0.07478398 0.2353075 0.9690396 0.19278843] [ 0. 0. 0. 1. ]] SLAMing on 0.9171056809999999 meters Centerline goodness : 0.988222 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:0.28, Z:0.09 [[ 0.95704563 -0.27815789 -0.0818037 0.7292719 ] [ 0.27737159 0.960532 -0.02105393 0.27622725] [ 0.08443139 -0.00254045 0.99642606 0.08701029] [ 0. 0. 0. 1. ]] SLAMing on 0.977105681 meters Centerline goodness : 0.990957 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:0.32, Z:0.02 [[ 0.93433472 -0.34688146 -0.08180397 0.78486512] [ 0.34635034 0.93786898 -0.0210529 0.3242075 ] [ 0.08402426 -0.00866238 0.99642606 0.01672294] [ 0. 0. 0. 1. ]] SLAMing on 1.0371056810000001 meters Centerline goodness : 0.995865 with order 1 Centerline is valid? [True, True] Translation: X:0.87, Y:0.24, Z:0.06 [[ 0.97048253 -0.22687366 -0.08180463 0.86740296] [ 0.22590339 0.97392225 -0.02105031 0.23513283] [ 0.08444711 0.00194901 0.99642606 0.0601668 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0971056810000002 meters Centerline goodness : 0.995120 with order 1 Centerline is valid? [True, True] Translation: X:0.91, Y:0.29, Z:0.08 [[ 0.9748897 -0.20711836 -0.08180502 0.91429317] [ 0.20607856 0.97830904 -0.02104881 0.29249267] [ 0.08439019 0.00366201 0.99642606 0.07591069] [ 0. 0. 0. 1. ]] SLAMing on 1.157105681 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:0.97, Y:0.32, Z:0.05 [[ 0.97509153 -0.20616588 -0.08180547 0.97381594] [ 0.20512289 0.9785099 -0.02104705 0.31688799] [ 0.08438665 0.00374263 0.99642606 0.04664577] [ 0. 0. 0. 1. ]] SLAMing on 1.217105681 meters Centerline goodness : 0.998094 with order 1 Centerline is valid? [True, True] Translation: X:1.03, Y:0.32, Z:0.08 [[ 0.97283381 -0.21656903 -0.08180602 1.03211566] [ 0.21556279 0.97626318 -0.02104494 0.32412231] [ 0.08442188 0.00283889 0.99642606 0.07852295] [ 0. 0. 0. 1. ]] SLAMing on 1.277105681 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:1.10, Y:0.31, Z:0.09 [[ 9.63504980e-01 -2.54884139e-01 -8.18060439e-02 1.09616979e+00] [ 2.54014355e-01 9.66971469e-01 -2.10448295e-02 3.14895110e-01] [ 8.44681037e-02 -5.03111504e-04 9.96426057e-01 8.60937489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:1.15, Y:0.34, Z:0.10 [[ 0.97308228 -0.21544972 -0.08180645 1.1525424 ] [ 0.21443967 0.97651053 -0.02104323 0.33839792] [ 0.08441862 0.00293425 0.99642606 0.10410041] [ 0. 0. 0. 1. ]] SLAMing on 1.397105681 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:1.22, Y:0.35, Z:0.08 [[ 0.96965871 -0.23036817 -0.08180769 1.21572595] [ 0.2294113 0.97310217 -0.02103842 0.34502324] [ 0.08445383 0.00163247 0.99642606 0.08159894] [ 0. 0. 0. 1. ]] SLAMing on 1.457105681 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:1.27, Y:0.38, Z:0.11 [[ 9.65188157e-01 -2.48433641e-01 -8.18079967e-02 1.26801926e+00] [ 2.47541334e-01 9.68648916e-01 -2.10372363e-02 3.77234319e-01] [ 8.44695846e-02 5.40307250e-05 9.96426057e-01 1.12305697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.517105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:0.41, Z:0.09 [[ 0.9744511 -0.2091709 -0.0818083 1.32479936] [ 0.20813937 0.97787294 -0.02103606 0.41059962] [ 0.08439825 0.00347108 0.99642606 0.09058934] [ 0. 0. 0. 1. ]] SLAMing on 1.5771056810000001 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:0.40, Z:0.12 [[ 9.67363617e-01 -2.39822709e-01 -8.18089323e-02 1.38819057e+00] [ 2.38899905e-01 9.70816370e-01 -2.10335975e-02 3.99024109e-01] [ 8.44657850e-02 8.02990823e-04 9.96426057e-01 1.17222575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.637105681 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.43, Z:0.10 [[ 0.95793641 -0.27507287 -0.08180921 1.44559902] [ 0.27427717 0.96142065 -0.02103252 0.42840423] [ 0.08443854 -0.00229058 0.99642606 0.09755284] [ 0. 0. 0. 1. ]] SLAMing on 1.697105681 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:0.47, Z:0.10 [[ 0.97122285 -0.22368127 -0.0818099 1.49932156] [ 0.22270142 0.97465985 -0.02102983 0.47114568] [ 0.0844408 0.00220547 0.99642606 0.10145536] [ 0. 0. 0. 1. ]] SLAMing on 1.757105681 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:0.47, Z:0.09 [[ 9.62559185e-01 -2.58430963e-01 -8.18123035e-02 1.56502503e+00] [ 2.57576021e-01 9.66029364e-01 -2.10204785e-02 4.69116949e-01] [ 8.44654301e-02 -8.39433002e-04 9.96426057e-01 9.23178327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.817105681 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:0.49, Z:0.12 [[ 0.95912107 -0.27091031 -0.08181922 1.62048152] [ 0.2701028 0.96260259 -0.02099352 0.49120393] [ 0.08444675 -0.00196428 0.99642606 0.11781931] [ 0. 0. 0. 1. ]] SLAMing on 1.877105681 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:0.52, Z:0.11 [[ 9.66249784e-01 -2.44266138e-01 -8.18254847e-02 1.67584316e+00] [ 2.43364675e-01 9.69708169e-01 -2.09690766e-02 5.24265700e-01] [ 8.44688763e-02 3.47933281e-04 9.96426057e-01 1.12438225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.937105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:0.49, Z:0.12 [[ 0.97070069 -0.22593073 -0.08182596 1.74791714] [ 0.22496411 0.97414143 -0.02096724 0.4946795 ] [ 0.0844472 0.00194501 0.99642606 0.1156469 ] [ 0. 0. 0. 1. ]] SLAMing on 1.997105681 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:1.81, Y:0.49, Z:0.12 [[ 9.66817382e-01 -2.42008799e-01 -8.18284234e-02 1.81237819e+00] [ 2.41100232e-01 9.70273908e-01 -2.09576035e-02 4.91076347e-01] [ 8.44679086e-02 5.33323508e-04 9.96426057e-01 1.20915293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.057105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:0.53, Z:0.13 [[ 0.97627968 -0.20045412 -0.08182993 1.86521201] [ 0.19939911 0.97969435 -0.0209517 0.53417704] [ 0.08436818 0.00413791 0.99642606 0.13419099] [ 0. 0. 0. 1. ]] SLAMing on 2.117105681 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:1.93, Y:0.52, Z:0.12 [[ 0.97668256 -0.1984786 -0.08183775 1.93232237] [ 0.19741923 0.98009589 -0.02092111 0.52280107] [ 0.08436124 0.00427694 0.99642606 0.11900608] [ 0. 0. 0. 1. ]] SLAMing on 2.177105681 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:2.00, Y:0.51, Z:0.12 [[ 0.97804202 -0.19166718 -0.08183825 1.99919965] [ 0.19058421 0.98144793 -0.02091918 0.51176614] [ 0.0843295 0.00486276 0.99642606 0.12176305] [ 0. 0. 0. 1. ]] SLAMing on 2.2371056809999996 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:0.51, Z:0.13 [[ 9.68396838e-01 -2.35603305e-01 -8.18452621e-02 2.06299915e+00] [ 2.34677444e-01 9.71848771e-01 -2.08917033e-02 5.13216493e-01] [ 8.44633717e-02 1.02422250e-03 9.96426058e-01 1.29889371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2971056809999997 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:0.54, Z:0.13 [[ 9.69975778e-01 -2.29013460e-01 -8.18524593e-02 2.12159285e+00] [ 2.28066532e-01 9.73421991e-01 -2.08634669e-02 5.36695706e-01] [ 8.44549987e-02 1.56925103e-03 9.96426059e-01 1.33038573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:0.57, Z:0.14 [[ 9.65650403e-01 -2.46613726e-01 -8.18594504e-02 2.17693760e+00] [ 2.45731950e-01 9.69113858e-01 -2.08360009e-02 5.68913206e-01] [ 8.44695716e-02 4.81030405e-06 9.96426059e-01 1.36804033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417105681 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:0.62, Z:0.15 [[ 9.71024661e-01 -2.24520683e-01 -8.18631208e-02 2.22835803e+00] [ 2.23561342e-01 9.74467439e-01 -2.08215702e-02 6.16848978e-01] [ 8.44478188e-02 1.91682904e-03 9.96426059e-01 1.50891375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477105681 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:0.64, Z:0.15 [[ 0.97794907 -0.19212729 -0.08187011 2.28500385] [ 0.19105636 0.98135879 -0.02079405 0.64439413] [ 0.08433906 0.00469372 0.99642606 0.15335811] [ 0. 0. 0. 1. ]] SLAMing on 2.537105681 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:0.64, Z:0.14 [[ 0.97728084 -0.19549711 -0.0818721 2.35104895] [ 0.19443859 0.98069443 -0.02078622 0.6410844 ] [ 0.08435516 0.00439488 0.99642606 0.1447321 ] [ 0. 0. 0. 1. ]] SLAMing on 2.597105681 meters Centerline goodness : 0.998648 with order 1 Centerline is valid? [True, True] Translation: X:2.42, Y:0.63, Z:0.16 [[ 9.68127243e-01 -2.36696933e-01 -8.18791988e-02 2.41572926e+00] [ 2.35786258e-01 9.71583212e-01 -2.07582139e-02 6.33685763e-01] [ 8.44658605e-02 7.90602438e-04 9.96426060e-01 1.60629799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:2.48, Y:0.64, Z:0.18 [[ 9.60868639e-01 -2.64624457e-01 -8.18862314e-02 2.47733056e+00] [ 2.63816579e-01 9.64350072e-01 -2.07304348e-02 6.35715701e-01] [ 8.44527732e-02 -1.68372081e-03 9.96426061e-01 1.76091963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7171056809999996 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:2.54, Y:0.65, Z:0.18 [[ 0.95539503 -0.28374984 -0.08189247 2.53965323] [ 0.28301372 0.95889233 -0.02070575 0.6487777 ] [ 0.08440132 -0.00339452 0.99642606 0.17837089] [ 0. 0. 0. 1. ]] SLAMing on 2.7771056809999997 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:0.69, Z:0.18 [[ 9.59270593e-01 -2.70355831e-01 -8.19002702e-02 2.59418502e+00] [ 2.69573491e-01 9.62757853e-01 -2.06748620e-02 6.88145323e-01] [ 8.44396977e-02 -2.24535459e-03 9.96426061e-01 1.81318864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999997 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:0.72, Z:0.18 [[ 9.61726908e-01 -2.61481620e-01 -8.19067567e-02 2.65063352e+00] [ 2.60669285e-01 9.65207303e-01 -2.06491328e-02 7.21128237e-01] [ 8.44563684e-02 -1.49174907e-03 9.96426062e-01 1.82607920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999998 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:0.76, Z:0.20 [[ 9.63271720e-01 -2.55729818e-01 -8.19137020e-02 2.70317702e+00] [ 2.54899044e-01 9.66747759e-01 -2.06215444e-02 7.57670703e-01] [ 8.44634316e-02 -1.01557385e-03 9.96426062e-01 1.99512895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:0.79, Z:0.20 [[ 9.68174032e-01 -2.36491498e-01 -8.19195689e-02 2.76064626e+00] [ 2.35593624e-01 9.71633346e-01 -2.05982115e-02 7.85394277e-01] [ 8.44670867e-02 6.42925376e-04 9.96426062e-01 1.98671046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017105681 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:0.80, Z:0.20 [[ 9.63701501e-01 -2.54101485e-01 -8.19258982e-02 2.82194343e+00] [ 2.53268964e-01 9.67177121e-01 -2.05730072e-02 7.97416324e-01] [ 8.44644860e-02 -9.23049506e-04 9.96426063e-01 1.97907317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.077105681 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:0.80, Z:0.20 [[ 0.95548243 -0.28344378 -0.08193253 2.8848404 ] [ 0.28272017 0.95898235 -0.02054655 0.80189842] [ 0.08439564 -0.00353211 0.99642606 0.20119369] [ 0. 0. 0. 1. ]] SLAMing on 3.137105681 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.81, Z:0.20 [[ 0.95436847 -0.28717039 -0.08193897 2.94587299] [ 0.28646265 0.95787162 -0.02052084 0.81326365] [ 0.08437999 -0.00388801 0.99642606 0.20450865] [ 0. 0. 0. 1. ]] SLAMing on 3.1971056809999996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:0.83, Z:0.21 [[ 0.95198032 -0.29498893 -0.08194512 3.00493163] [ 0.29431205 0.95548957 -0.02049625 0.83232736] [ 0.08434388 -0.00460541 0.99642606 0.20619028] [ 0. 0. 0. 1. ]] SLAMing on 3.2571056809999996 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:0.85, Z:0.21 [[ 0.9473511 -0.30953175 -0.08195112 3.06364872] [ 0.30891075 0.95087067 -0.02047222 0.85202792] [ 0.08426172 -0.0059212 0.99642606 0.20796097] [ 0. 0. 0. 1. ]] SLAMing on 3.3171056809999997 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:0.87, Z:0.22 [[ 0.94772816 -0.30837439 -0.08195463 3.12187529] [ 0.30775031 0.95124719 -0.02045818 0.87311265] [ 0.08426789 -0.00583277 0.99642606 0.22243621] [ 0. 0. 0. 1. ]] SLAMing on 3.3771056809999997 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:0.90, Z:0.24 [[ 0.95436144 -0.28718738 -0.08196131 3.17780299] [ 0.28648735 0.95786615 -0.02043139 0.9033981 ] [ 0.0843756 -0.00398195 0.99642606 0.23601929] [ 0. 0. 0. 1. ]] SLAMing on 3.437105681 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:3.23, Y:0.94, Z:0.25 [[ 9.69115792e-01 -2.32584999e-01 -8.19682842e-02 3.23045720e+00] [ 2.31689655e-01 9.72575759e-01 -2.04033655e-02 9.44036225e-01] [ 8.44658830e-02 7.82020293e-04 9.96426065e-01 2.51107232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:0.98, Z:0.25 [[ 9.75437713e-01 -2.04455780e-01 -8.19701277e-02 3.28613067e+00] [ 2.03461351e-01 9.78870514e-01 -2.03959569e-02 9.80360276e-01] [ 8.44082123e-02 3.21723256e-03 9.96426065e-01 2.51802581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.557105681 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:3.35, Y:0.99, Z:0.25 [[ 9.72488070e-01 -2.18052385e-01 -8.19762800e-02 3.34842105e+00] [ 2.17108058e-01 9.75934990e-01 -2.03711995e-02 9.93472235e-01] [ 8.44455086e-02 2.01303748e-03 9.96426065e-01 2.53126179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:0.99, Z:0.26 [[ 9.66654158e-01 -2.42607701e-01 -8.19831783e-02 3.41149248e+00] [ 2.41753318e-01 9.70124466e-01 -2.03433995e-02 9.94983257e-01] [ 8.44693525e-02 -1.54673610e-04 9.96426066e-01 2.61341158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6771056809999996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:0.99, Z:0.26 [[ 9.60902513e-01 -2.64469428e-01 -8.19895296e-02 3.47702260e+00] [ 2.63696158e-01 9.64391790e-01 -2.03177698e-02 9.89966659e-01] [ 8.44434582e-02 -2.09692789e-03 9.96426066e-01 2.62530529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7371056809999996 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:0.99, Z:0.27 [[ 9.64363074e-01 -2.51556316e-01 -8.19956167e-02 3.54132686e+00] [ 2.50738402e-01 9.67842157e-01 -2.02931748e-02 9.88510049e-01] [ 8.44636908e-02 -9.89461496e-04 9.96426066e-01 2.72446006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999997 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:0.99, Z:0.29 [[ 9.71520958e-01 -2.22313704e-01 -8.19978349e-02 3.60351004e+00] [ 2.21391837e-01 9.74973951e-01 -2.02842078e-02 9.93980384e-01] [ 8.44552105e-02 1.55288167e-03 9.96426066e-01 2.85226713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999997 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:0.99, Z:0.29 [[ 9.71465076e-01 -2.22555533e-01 -8.20039135e-02 3.66742135e+00] [ 2.21636601e-01 9.74918851e-01 -2.02596037e-02 9.94066222e-01] [ 8.44560480e-02 1.50642874e-03 9.96426067e-01 2.86546509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:0.99, Z:0.29 [[ 9.67271666e-01 -2.40124780e-01 -8.20098431e-02 3.73452452e+00] [ 2.39270629e-01 9.70742029e-01 -2.02355728e-02 9.85073410e-01] [ 8.44694640e-02 -4.92505012e-05 9.96426067e-01 2.86304431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977105681 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:0.98, Z:0.29 [[ 9.61746859e-01 -2.61373859e-01 -8.20163755e-02 3.79947879e+00] [ 2.60598621e-01 9.65235698e-01 -2.02090619e-02 9.78849248e-01] [ 8.44472539e-02 -1.93735254e-03 9.96426067e-01 2.89397826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037105681 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:0.97, Z:0.29 [[ 0.95548042 -0.28342458 -0.08202244 3.86529258] [ 0.2827319 0.95898658 -0.02018443 0.97194211] [ 0.08437918 -0.00390453 0.99642607 0.28816428] [ 0. 0. 0. 1. ]] SLAMing on 4.097105681 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:0.98, Z:0.29 [[ 9.56179602e-01 -2.81054872e-01 -8.20288270e-02 3.92574288e+00] [ 2.80355726e-01 9.59684482e-01 -2.01584280e-02 9.82754120e-01] [ 8.43874167e-02 -3.72217374e-03 9.96426068e-01 2.92544757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:1.01, Z:0.30 [[ 9.63608588e-01 -2.54419311e-01 -8.20323316e-02 3.98129459e+00] [ 2.53624413e-01 9.67093000e-01 -2.01441563e-02 1.01050753e+00] [ 8.44579560e-02 -1.39431988e-03 9.96426068e-01 3.04616852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2171056810000005 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:1.05, Z:0.32 [[ 9.70599985e-01 -2.26286168e-01 -8.20380370e-02 4.03593930e+00] [ 2.25392232e-01 9.74060312e-01 -2.01208941e-02 1.04753708e+00] [ 8.44630759e-02 1.03860325e-03 9.96426069e-01 3.17224915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:1.08, Z:0.32 [[ 9.71997727e-01 -2.20203976e-01 -8.20404072e-02 4.09297653e+00] [ 2.19289205e-01 9.75452604e-01 -2.01112253e-02 1.07912230e+00] [ 8.44551006e-02 1.55748953e-03 9.96426069e-01 3.16304267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681000001 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:1.09, Z:0.33 [[ 9.67584235e-01 -2.38849403e-01 -8.20470017e-02 4.15157778e+00] [ 2.38003504e-01 9.71056617e-01 -2.00842861e-02 1.09381053e+00] [ 8.44694036e-02 -9.42352795e-05 9.96426069e-01 3.29708850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105681 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:4.21, Y:1.11, Z:0.34 [[ 9.65302980e-01 -2.47907832e-01 -8.20479382e-02 4.21086771e+00] [ 2.47094841e-01 9.68783214e-01 -2.00804593e-02 1.11174830e+00] [ 8.44647684e-02 -8.89895007e-04 9.96426069e-01 3.41242524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:4.27, Y:1.13, Z:0.34 [[ 9.69810976e-01 -2.29638415e-01 -8.20540672e-02 4.27046831e+00] [ 2.28761982e-01 9.73275777e-01 -2.00553834e-02 1.13052031e+00] [ 8.44667225e-02 6.79079875e-04 9.96426069e-01 3.41490736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:1.15, Z:0.34 [[ 9.71733659e-01 -2.21358986e-01 -8.20603112e-02 4.32817489e+00] [ 2.20455195e-01 9.75191424e-01 -2.00298024e-02 1.15005031e+00] [ 8.44582886e-02 1.37301129e-03 9.96426070e-01 3.37494416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:4.39, Y:1.16, Z:0.34 [[ 9.69846480e-01 -2.29486186e-01 -8.20603112e-02 4.39149037e+00] [ 2.28611373e-01 9.73311691e-01 -2.00298024e-02 1.15626083e+00] [ 8.44668232e-02 6.65912933e-04 9.96426070e-01 3.36857291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637105681 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:4.45, Y:1.16, Z:0.34 [[ 9.70792421e-01 -2.25448856e-01 -8.20663661e-02 4.45454840e+00] [ 2.24561732e-01 9.74254500e-01 -2.00049635e-02 1.16172247e+00] [ 8.44636226e-02 9.91701679e-04 9.96426070e-01 3.40805121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:1.17, Z:0.34 [[ 9.71743654e-01 -2.21310603e-01 -8.20724586e-02 4.51820296e+00] [ 2.20410849e-01 9.75202471e-01 -1.99799373e-02 1.16712040e+00] [ 8.44590364e-02 1.32571697e-03 9.96426070e-01 3.43863822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7571056810000005 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:1.16, Z:0.35 [[ 9.71187845e-01 -2.23734432e-01 -8.20796723e-02 4.58281987e+00] [ 2.22845819e-01 9.74649541e-01 -1.99502588e-02 1.16351846e+00] [ 8.44624748e-02 1.08433708e-03 9.96426071e-01 3.54985014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105681 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:1.17, Z:0.37 [[ 9.71266900e-01 -2.23390154e-01 -8.20819664e-02 4.64431709e+00] [ 2.22501111e-01 9.74728485e-01 -1.99408158e-02 1.17028457e+00] [ 8.44622126e-02 1.10452556e-03 9.96426071e-01 3.70229914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:4.71, Y:1.17, Z:0.38 [[ 9.72364443e-01 -2.18560922e-01 -8.20884433e-02 4.70786529e+00] [ 2.17656942e-01 9.75822158e-01 -1.99141174e-02 1.17062276e+00] [ 8.44561697e-02 1.49666015e-03 9.96426071e-01 3.82423944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105681 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:4.77, Y:1.17, Z:0.38 [[ 9.77922671e-01 -1.92167513e-01 -8.20907794e-02 4.77282045e+00] [ 1.91171102e-01 9.81354891e-01 -1.99044825e-02 1.16946916e+00] [ 8.43851828e-02 3.77165993e-03 9.96426071e-01 3.76162609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997105681 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:4.83, Y:1.18, Z:0.38 [[ 9.79675625e-01 -1.83020412e-01 -8.20926214e-02 4.83478021e+00] [ 1.81992605e-01 9.83098574e-01 -1.98968828e-02 1.17685924e+00] [ 8.43466747e-02 4.55224107e-03 9.96426071e-01 3.79251424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057105681 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:1.18, Z:0.37 [[ 0.98114447 -0.17497212 -0.08209927 4.89794513] [ 0.17391853 0.98455957 -0.01986942 1.17985235] [ 0.08430821 0.00521619 0.99642607 0.3680048 ] [ 0. 0. 0. 1. ]] SLAMing on 5.117105681 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:1.18, Z:0.37 [[ 0.9818494 -0.17096918 -0.08210534 4.96139131] [ 0.16990377 0.98526084 -0.01984428 1.1828393 ] [ 0.08428794 0.00553409 0.99642607 0.37160638] [ 0. 0. 0. 1. ]] SLAMing on 5.1771056810000005 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:1.17, Z:0.37 [[ 9.79608578e-01 -1.83372393e-01 -8.21072441e-02 5.02732531e+00] [ 1.82350868e-01 9.83033406e-01 -1.98364152e-02 1.17345093e+00] [ 8.43516148e-02 4.45959526e-03 9.96426072e-01 3.71730579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237105681 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:1.16, Z:0.38 [[ 9.75520152e-01 -2.04006379e-01 -8.21086448e-02 5.09557013e+00] [ 2.03057851e-01 9.78965912e-01 -1.98306156e-02 1.15732373e+00] [ 8.44271364e-02 2.67236021e-03 9.96426072e-01 3.80111636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:1.14, Z:0.40 [[ 9.75394597e-01 -2.04604688e-01 -8.21115223e-02 5.16146775e+00] [ 2.03659276e-01 9.78841212e-01 -1.98186941e-02 1.14309638e+00] [ 8.44291397e-02 2.60827393e-03 9.96426072e-01 3.98401737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357105681 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:1.15, Z:0.42 [[ 9.76119854e-01 -2.01115395e-01 -8.21135092e-02 5.22212214e+00] [ 2.00158356e-01 9.79563259e-01 -1.98104585e-02 1.14539970e+00] [ 8.44195648e-02 2.90167684e-03 9.96426072e-01 4.22265089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417105681 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:1.15, Z:0.42 [[ 9.75956571e-01 -2.01905673e-01 -8.21149821e-02 5.28619585e+00] [ 2.00951936e-01 9.79400892e-01 -1.98043510e-02 1.14509193e+00] [ 8.44220976e-02 2.82702194e-03 9.96426072e-01 4.17058069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105681 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:1.16, Z:0.42 [[ 9.78979643e-01 -1.86697162e-01 -8.21159412e-02 5.34707629e+00] [ 1.85690286e-01 9.82408806e-01 -1.98003738e-02 1.15739238e+00] [ 8.43680973e-02 4.13603027e-03 9.96426072e-01 4.15059018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537105681 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:1.18, Z:0.42 [[ 0.98230095 -0.16834962 -0.08211733 5.40721766] [ 0.16727925 0.98571082 -0.0197946 1.17528695] [ 0.08427636 0.00570773 0.99642607 0.41781426] [ 0. 0. 0. 1. ]] SLAMing on 5.597105681 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:1.19, Z:0.42 [[ 0.98210967 -0.16946097 -0.08211926 5.46611656] [ 0.16839512 0.98552097 -0.01978661 1.18950968] [ 0.08428331 0.00560414 0.99642607 0.42312 ] [ 0. 0. 0. 1. ]] SLAMing on 5.657105681 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:1.21, Z:0.42 [[ 0.98289419 -0.16484948 -0.08211973 5.52607469] [ 0.1637678 0.9863005 -0.01978464 1.20813712] [ 0.08425622 0.00599764 0.99642607 0.42171918] [ 0. 0. 0. 1. ]] SLAMing on 5.7171056810000005 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:1.23, Z:0.42 [[ 0.983757 -0.15961896 -0.08212161 5.58469428] [ 0.15851982 0.98715771 -0.01977685 1.22798414] [ 0.08422374 0.00643771 0.99642607 0.42168705] [ 0. 0. 0. 1. ]] SLAMing on 5.777105681 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:1.24, Z:0.44 [[ 9.80037200e-01 -1.81060694e-01 -8.21225449e-02 5.64409132e+00] [ 1.80036392e-01 9.83461198e-01 -1.97729623e-02 1.24247236e+00] [ 8.43444426e-02 4.59319194e-03 9.96426072e-01 4.37604007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837105681 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:1.25, Z:0.46 [[ 9.76109150e-01 -2.01162864e-01 -8.21244753e-02 5.70357021e+00] [ 2.00209817e-01 9.79553662e-01 -1.97649412e-02 1.25307823e+00] [ 8.44213027e-02 2.85061377e-03 9.96426072e-01 4.55260085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897105681 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:1.27, Z:0.47 [[ 9.72124545e-01 -2.19610892e-01 -8.21274887e-02 5.76291587e+00] [ 2.18724301e-01 9.75586758e-01 -1.97524121e-02 1.26849384e+00] [ 8.44603352e-02 1.23852708e-03 9.96426072e-01 4.70052896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:5.82, Y:1.29, Z:0.48 [[ 9.68424736e-01 -2.35389655e-01 -8.21294185e-02 5.82219726e+00] [ 2.34560162e-01 9.71901070e-01 -1.97443848e-02 1.28882594e+00] [ 8.44692936e-02 -1.43339123e-04 9.96426072e-01 4.75121524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105681 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:5.88, Y:1.31, Z:0.47 [[ 9.64651262e-01 -2.50404470e-01 -8.21312641e-02 5.88045151e+00] [ 2.49629731e-01 9.68140207e-01 -1.97367045e-02 1.31013536e+00] [ 8.44567380e-02 -1.46336848e-03 9.96426072e-01 4.67624605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077105681 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:1.34, Z:0.48 [[ 9.59517861e-01 -2.69406349e-01 -8.21321672e-02 5.93696688e+00] [ 2.68700985e-01 9.63021491e-01 -1.97329455e-02 1.33622417e+00] [ 8.44112229e-02 -3.13488060e-03 9.96426073e-01 4.75007518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137105681 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:1.37, Z:0.49 [[ 9.58242774e-01 -2.73906818e-01 -8.21330671e-02 5.99260552e+00] [ 2.73218226e-01 9.61749739e-01 -1.97291995e-02 1.36906253e+00] [ 8.43954180e-02 -3.53488798e-03 9.96426073e-01 4.87315736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105681 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:1.41, Z:0.49 [[ 9.63570392e-01 -2.54530898e-01 -8.21347754e-02 6.04584556e+00] [ 2.53772344e-01 9.67062892e-01 -1.97220848e-02 1.41220325e+00] [ 8.44493734e-02 -1.83991751e-03 9.96426073e-01 4.92472255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2571056810000005 meters Centerline goodness : 0.998446 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:1.46, Z:0.49 [[ 9.65392406e-01 -2.47529455e-01 -8.21381248e-02 6.09878198e+00] [ 2.46746756e-01 9.68879574e-01 -1.97081256e-02 1.45834185e+00] [ 8.44602929e-02 -1.24124110e-03 9.96426073e-01 4.94740534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105681 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:1.50, Z:0.49 [[ 9.63412234e-01 -2.55127214e-01 -8.21399573e-02 6.15447893e+00] [ 2.54372663e-01 9.66905600e-01 -1.97004852e-02 1.49537256e+00] [ 8.44477146e-02 -1.91447115e-03 9.96426073e-01 4.94382245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:1.54, Z:0.51 [[ 9.59607617e-01 -2.69082122e-01 -8.21464145e-02 6.20897489e+00] [ 2.68380653e-01 9.63112028e-01 -1.96735232e-02 1.53558853e+00] [ 8.44099932e-02 -3.16764562e-03 9.96426073e-01 5.05704739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105681 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:1.56, Z:0.51 [[ 9.60627111e-01 -2.65417303e-01 -8.21535721e-02 6.26656775e+00] [ 2.64705019e-01 9.64129339e-01 -1.96435888e-02 1.56228855e+00] [ 8.44204176e-02 -2.87629888e-03 9.96426074e-01 5.11095650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:1.59, Z:0.51 [[ 9.65806964e-01 -2.45899744e-01 -8.21597434e-02 6.32497291e+00] [ 2.45118847e-01 9.69294535e-01 -1.96177433e-02 1.59135547e+00] [ 8.44609884e-02 -1.19194846e-03 9.96426074e-01 5.12295110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557105681 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:1.62, Z:0.51 [[ 9.74290365e-01 -2.09778337e-01 -8.21665020e-02 6.38287056e+00] [ 2.08870550e-01 9.77747078e-01 -1.95893952e-02 1.62377394e+00] [ 8.44474880e-02 1.92359655e-03 9.96426074e-01 5.09013585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105681 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:6.44, Y:1.65, Z:0.51 [[ 9.77265736e-01 -1.95447785e-01 -8.21696142e-02 6.44263998e+00] [ 1.94490429e-01 9.80709050e-01 -1.95763318e-02 1.64639930e+00] [ 8.44106350e-02 3.15007485e-03 9.96426074e-01 5.12331534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6771056810000005 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:1.66, Z:0.52 [[ 9.76418460e-01 -1.99634551e-01 -8.21768619e-02 6.50471136e+00] [ 1.98694523e-01 9.79866545e-01 -1.95458607e-02 1.65973144e+00] [ 8.44243868e-02 2.75684682e-03 9.96426075e-01 5.15176260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105681 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:1.67, Z:0.51 [[ 9.73364485e-01 -2.14026488e-01 -8.21841957e-02 6.56834260e+00] [ 2.13140070e-01 9.76826738e-01 -1.95149755e-02 1.66675553e+00] [ 8.44564415e-02 1.47843888e-03 9.96426075e-01 5.09289472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:1.67, Z:0.53 [[ 9.71325767e-01 -2.23095165e-01 -8.21875956e-02 6.62966191e+00] [ 2.22242288e-01 9.74796435e-01 -1.95006465e-02 1.67471663e+00] [ 8.44666752e-02 6.75921223e-04 9.96426075e-01 5.25752412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105681 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:1.68, Z:0.53 [[ 9.72288233e-01 -2.18860188e-01 -8.21937307e-02 6.69300829e+00] [ 2.17994382e-01 9.75755699e-01 -1.94747534e-02 1.67568593e+00] [ 8.44632493e-02 1.01730206e-03 9.96426076e-01 5.33551699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105681 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:1.68, Z:0.54 [[ 9.71688864e-01 -2.21503799e-01 -8.21998646e-02 6.75516225e+00] [ 2.20649620e-01 9.75159212e-01 -1.94488286e-02 1.68469590e+00] [ 8.44659446e-02 7.60841301e-04 9.96426076e-01 5.35495923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105681 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:1.69, Z:0.54 [[ 9.68122362e-01 -2.36604208e-01 -8.22042599e-02 6.82031211e+00] [ 2.35805738e-01 9.71605949e-01 -1.94302334e-02 1.68604644e+00] [ 8.44674229e-02 -5.73392723e-04 9.96426076e-01 5.36804472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105681 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:1.68, Z:0.55 [[ 9.58839976e-01 -2.71785210e-01 -8.22113166e-02 6.88466616e+00] [ 2.71116990e-01 9.62350874e-01 -1.94003298e-02 1.68301468e+00] [ 8.43888551e-02 -3.68707294e-03 9.96426077e-01 5.50076914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097105681 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:1.68, Z:0.55 [[ 9.54730366e-01 -2.85884680e-01 -8.22184761e-02 6.94834224e+00] [ 2.85270875e-01 9.58251185e-01 -1.93699407e-02 1.68455590e+00] [ 8.43235214e-02 -4.96146604e-03 9.96426077e-01 5.52796348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157105681 meters Centerline goodness : 0.998388 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:1.70, Z:0.56 [[ 9.55473956e-01 -2.83387683e-01 -8.22249360e-02 7.00974232e+00] [ 2.82767030e-01 9.58993574e-01 -1.93424795e-02 1.69590514e+00] [ 8.43346057e-02 -4.76926553e-03 9.96426078e-01 5.63460175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:1.72, Z:0.57 [[ 9.56928582e-01 -2.78434300e-01 -8.22315622e-02 7.06884592e+00] [ 2.77797840e-01 9.60445375e-01 -1.93142684e-02 1.71989817e+00] [ 8.43566784e-02 -4.36137492e-03 9.96426078e-01 5.70652187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105681 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:1.74, Z:0.57 [[ 9.56588637e-01 -2.79597991e-01 -8.22383260e-02 7.12931127e+00] [ 2.78968282e-01 9.60106645e-01 -1.92854257e-02 1.74230444e+00] [ 8.43497296e-02 -4.49366541e-03 9.96426079e-01 5.68411944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105681 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:1.76, Z:0.58 [[ 9.57581507e-01 -2.76176385e-01 -8.22451344e-02 7.18830728e+00] [ 2.75536594e-01 9.61097695e-01 -1.92563469e-02 1.76399946e+00] [ 8.43637573e-02 -4.22202250e-03 9.96426079e-01 5.76847104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105681 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:1.79, Z:0.58 [[ 9.61716537e-01 -2.61411393e-01 -8.22519742e-02 7.24596201e+00] [ 2.60720079e-01 9.65222958e-01 -1.92270868e-02 1.79350124e+00] [ 8.44176734e-02 -2.95373393e-03 9.96426079e-01 5.78430665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105681 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:1.82, Z:0.58 [[ 9.65224030e-01 -2.48145530e-01 -8.22579297e-02 7.30208827e+00] [ 2.47408179e-01 9.68721060e-01 -1.92015740e-02 1.81993826e+00] [ 8.44497737e-02 -1.81746393e-03 9.96426080e-01 5.84394541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105681 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:7.36, Y:1.85, Z:0.59 [[ 9.67095007e-01 -2.40748818e-01 -8.22633204e-02 7.36097528e+00] [ 2.39986683e-01 9.70586719e-01 -1.91784517e-02 1.84603081e+00] [ 8.44608758e-02 -1.19471647e-03 9.96426080e-01 5.87381444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105681 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:1.87, Z:0.59 [[ 9.67440306e-01 -2.39355248e-01 -8.22697972e-02 7.41858200e+00] [ 2.38590448e-01 9.70931435e-01 -1.91506279e-02 1.87480349e+00] [ 8.44621355e-02 -1.10169844e-03 9.96426081e-01 5.92738890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637105681 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:1.90, Z:0.60 [[ 9.64115688e-01 -2.52411457e-01 -8.22763449e-02 7.47770418e+00] [ 2.51696323e-01 9.67617328e-01 -1.91224559e-02 1.89802318e+00] [ 8.44387439e-02 -2.27239376e-03 9.96426081e-01 5.96508435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105681 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:7.54, Y:1.92, Z:0.60 [[ 9.59832633e-01 -2.68236471e-01 -8.22831184e-02 7.53749261e+00] [ 2.67581532e-01 9.63346029e-01 -1.90932654e-02 1.91607502e+00] [ 8.43886255e-02 -3.69110362e-03 9.96426081e-01 6.03623268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105681 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:1.93, Z:0.61 [[ 9.57710641e-01 -2.75714852e-01 -8.22900308e-02 7.59826471e+00] [ 2.75089893e-01 9.61229492e-01 -1.90634270e-02 1.93352961e+00] [ 8.43556745e-02 -4.37990884e-03 9.96426082e-01 6.09499552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817105681 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:7.66, Y:1.95, Z:0.62 [[ 9.61151436e-01 -2.63467499e-01 -8.22969848e-02 7.65664055e+00] [ 2.62800243e-01 9.64662513e-01 -1.90333596e-02 1.95271809e+00] [ 8.44034878e-02 -3.33372668e-03 9.96426082e-01 6.19384109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105681 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:1.97, Z:0.63 [[ 9.67009403e-01 -2.41078912e-01 -8.23029353e-02 7.71481695e+00] [ 2.40332503e-01 9.70504508e-01 -1.90075940e-02 1.97435454e+00] [ 8.44576998e-02 -1.39954835e-03 9.96426083e-01 6.30205653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105681 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:7.78, Y:1.99, Z:0.63 [[ 9.71494065e-01 -2.22316403e-01 -8.23085530e-02 7.77535086e+00] [ 2.21504546e-01 9.74974550e-01 -1.89832364e-02 1.99385361e+00] [ 8.44690293e-02 2.10382774e-04 9.96426083e-01 6.29517340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105681 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:2.01, Z:0.63 [[ 9.73164264e-01 -2.14884931e-01 -8.23151399e-02 7.83472167e+00] [ 2.14048917e-01 9.76639024e-01 -1.89546316e-02 2.01037735e+00] [ 8.44652426e-02 8.26503576e-04 9.96426083e-01 6.27648914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:7.90, Y:2.02, Z:0.64 [[ 9.71519927e-01 -2.22198992e-01 -8.23203440e-02 7.89523951e+00] [ 2.21391055e-01 9.75001323e-01 -1.89320032e-02 2.02130857e+00] [ 8.44691163e-02 1.67830580e-04 9.96426084e-01 6.36186091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:2.02, Z:0.65 [[ 9.65241213e-01 -2.48056029e-01 -8.23262286e-02 7.95786257e+00] [ 2.47343505e-01 9.68743381e-01 -1.89063791e-02 2.02483847e+00] [ 8.44428304e-02 -2.11364168e-03 9.96426084e-01 6.49917936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105681 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:2.02, Z:0.66 [[ 9.56478983e-01 -2.79945165e-01 -8.23326153e-02 8.02368133e+00] [ 2.79351621e-01 9.60003267e-01 -1.88785259e-02 2.02100794e+00] [ 8.43245317e-02 -4.94283630e-03 9.96426084e-01 6.55993610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:2.03, Z:0.67 [[ 9.56963131e-01 -2.78283738e-01 -8.23391054e-02 8.08432997e+00] [ 2.77686505e-01 9.60486791e-01 -1.88501768e-02 2.02741673e+00] [ 8.43313207e-02 -4.82553417e-03 9.96426085e-01 6.68684533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:2.04, Z:0.67 [[ 9.62955599e-01 -2.56780573e-01 -8.23422805e-02 8.14561279e+00] [ 2.56105756e-01 9.66465227e-01 -1.88362966e-02 2.04073187e+00] [ 8.44177459e-02 -2.94981468e-03 9.96426085e-01 6.72323897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105681 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:2.06, Z:0.67 [[ 9.68564757e-01 -2.34736059e-01 -8.23486093e-02 8.20557551e+00] [ 2.33983672e-01 9.72058578e-01 -1.88085881e-02 2.05738975e+00] [ 8.44627258e-02 -1.05089442e-03 9.96426085e-01 6.72447682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105681 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:2.07, Z:0.67 [[ 9.68256606e-01 -2.36001869e-01 -8.23544928e-02 8.26824518e+00] [ 2.35256243e-01 9.71751875e-01 -1.87827915e-02 2.06701960e+00] [ 8.44609067e-02 -1.18784657e-03 9.96426086e-01 6.65737970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:2.07, Z:0.67 [[ 9.66362103e-01 -2.43641275e-01 -8.23602700e-02 8.33040714e+00] [ 2.42925437e-01 9.69863594e-01 -1.87574252e-02 2.07340352e+00] [ 8.44483104e-02 -1.88093971e-03 9.96426086e-01 6.67344565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:2.08, Z:0.67 [[ 9.65149050e-01 -2.48401187e-01 -8.23660233e-02 8.39297731e+00] [ 2.47704772e-01 9.68654455e-01 -1.87321278e-02 2.08050613e+00] [ 8.44372981e-02 -2.32316168e-03 9.96426086e-01 6.74774445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105681 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:8.46, Y:2.09, Z:0.68 [[ 9.64773427e-01 -2.49853942e-01 -8.23725789e-02 8.45536979e+00] [ 2.49165268e-01 9.68280361e-01 -1.87032557e-02 2.08800666e+00] [ 8.44328326e-02 -2.47998166e-03 9.96426087e-01 6.80237054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105681 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:8.52, Y:2.09, Z:0.69 [[ 9.63514558e-01 -2.54663511e-01 -8.23783460e-02 8.51822796e+00] [ 2.53994512e-01 9.67025298e-01 -1.86778200e-02 2.09151757e+00] [ 8.44185038e-02 -2.92729633e-03 9.96426087e-01 6.86447562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:2.10, Z:0.70 [[ 9.61161311e-01 -2.63404269e-01 -8.23840103e-02 8.58041037e+00] [ 2.62769324e-01 9.64678369e-01 -1.86528026e-02 2.09879646e+00] [ 8.43873005e-02 -3.71963853e-03 9.96426087e-01 6.97555110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777105681 meters Centerline goodness : 0.998647 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:2.10, Z:0.70 [[ 9.54087785e-01 -2.87972778e-01 -8.23903999e-02 8.64516299e+00] [ 2.87430688e-01 9.57620346e-01 -1.86245370e-02 2.09941368e+00] [ 8.42620828e-02 -5.91208604e-03 9.96426088e-01 6.96653447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105681 meters Centerline goodness : 0.998292 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:2.10, Z:0.70 [[ 9.49000281e-01 -3.04317538e-01 -8.23972224e-02 8.70737093e+00] [ 3.03838806e-01 9.52541984e-01 -1.85943042e-02 2.10345635e+00] [ 8.41453866e-02 -7.38947382e-03 9.96426088e-01 7.00162101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897105681 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:2.12, Z:0.70 [[ 9.49559891e-01 -3.02565962e-01 -8.24005610e-02 8.76728748e+00] [ 3.02081971e-01 9.53100879e-01 -1.85794976e-02 2.12477922e+00] [ 8.41575707e-02 -7.24937817e-03 9.96426088e-01 7.03538211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:8.82, Y:2.16, Z:0.70 [[ 9.54780480e-01 -2.85662842e-01 -8.24073692e-02 8.82430210e+00] [ 2.85118670e-01 9.58312720e-01 -1.85492514e-02 2.15784240e+00] [ 8.42708620e-02 -5.78541633e-03 9.96426089e-01 7.03250912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017105681 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:8.88, Y:2.19, Z:0.72 [[ 9.58021466e-01 -2.74595957e-01 -8.24131682e-02 8.88015619e+00] [ 2.74013161e-01 9.61547539e-01 -1.85234513e-02 2.18782079e+00] [ 8.43306438e-02 -4.83642877e-03 9.96426089e-01 7.16587168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105681 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:2.23, Z:0.75 [[ 9.62817629e-01 -2.57272777e-01 -8.24192391e-02 8.93222671e+00] [ 2.56628792e-01 9.66333041e-01 -1.84963997e-02 2.23153197e+00] [ 8.44030540e-02 -3.34249005e-03 9.96426090e-01 7.46430607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:8.99, Y:2.26, Z:0.75 [[ 9.66117358e-01 -2.44588163e-01 -8.24250003e-02 8.98834165e+00] [ 2.43900193e-01 9.69624427e-01 -1.84706906e-02 2.26149149e+00] [ 8.44390059e-02 -2.25861863e-03 9.96426090e-01 7.52936323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105681 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:2.29, Z:0.76 [[ 9.69030989e-01 -2.32775015e-01 -8.24301769e-02 9.04592625e+00] [ 2.32046248e-01 9.72529808e-01 -1.84475596e-02 2.29025229e+00] [ 8.44599351e-02 -1.25135635e-03 9.96426090e-01 7.58807652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105681 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:2.31, Z:0.76 [[ 9.68505764e-01 -2.34948455e-01 -8.24366905e-02 9.10486267e+00] [ 2.34230020e-01 9.72006718e-01 -1.84184064e-02 2.31118055e+00] [ 8.44563931e-02 -1.47081486e-03 9.96426091e-01 7.57115201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317105681 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:9.17, Y:2.32, Z:0.74 [[ 9.64909568e-01 -2.49304768e-01 -8.24418525e-02 9.16775005e+00] [ 2.48640375e-01 9.68421178e-01 -1.83952720e-02 2.32321988e+00] [ 8.44244650e-02 -2.74859913e-03 9.96426091e-01 7.41467954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:2.34, Z:0.75 [[ 9.64112991e-01 -2.52365904e-01 -8.24475119e-02 9.22651828e+00] [ 2.51714828e-01 9.67627094e-01 -1.83698718e-02 2.33888493e+00] [ 8.44143756e-02 -3.04262927e-03 9.96426091e-01 7.47412042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105681 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:2.36, Z:0.75 [[ 9.64384548e-01 -2.51325137e-01 -8.24507064e-02 9.28660408e+00] [ 2.50671494e-01 9.67898175e-01 -1.83555224e-02 2.35667309e+00] [ 8.44170925e-02 -2.96625960e-03 9.96426091e-01 7.52978235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105681 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:2.37, Z:0.76 [[ 9.63528683e-01 -2.54584785e-01 -8.24564399e-02 9.34717237e+00] [ 2.53945231e-01 9.67044901e-01 -1.83297305e-02 2.37002853e+00] [ 8.44055503e-02 -3.27819852e-03 9.96426092e-01 7.57118091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:2.38, Z:0.77 [[ 9.59675965e-01 -2.68741602e-01 -8.24620712e-02 9.40951991e+00] [ 2.68156053e-01 9.63201579e-01 -1.83043613e-02 2.37926817e+00] [ 8.43467405e-02 -4.54644801e-03 9.96426092e-01 7.66272884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105681 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:2.39, Z:0.78 [[ 9.54236623e-01 -2.87456753e-01 -8.24686790e-02 9.47151895e+00] [ 2.86942823e-01 9.57773385e-01 -1.82745421e-02 2.38549004e+00] [ 8.42394464e-02 -6.22555816e-03 9.96426093e-01 7.75021720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105681 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:2.39, Z:0.78 [[ 9.50203293e-01 -3.00518905e-01 -8.24747798e-02 9.53492952e+00] [ 3.00055910e-01 9.53747083e-01 -1.82469671e-02 2.39071858e+00] [ 8.41436393e-02 -7.40871690e-03 9.96426093e-01 7.76295488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737105681 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:2.40, Z:0.79 [[ 9.48182401e-01 -3.06833743e-01 -8.24814385e-02 9.59529507e+00] [ 3.06396933e-01 9.51729513e-01 -1.82168183e-02 2.40201250e+00] [ 8.40895539e-02 -7.99919332e-03 9.96426094e-01 7.88067433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797105681 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:2.42, Z:0.80 [[ 9.50072056e-01 -3.00930117e-01 -8.24872909e-02 9.65390884e+00] [ 3.00473537e-01 9.53616677e-01 -1.81902796e-02 2.42013663e+00] [ 8.41352592e-02 -7.50317176e-03 9.96426094e-01 7.97043740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105681 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:2.44, Z:0.80 [[ 9.53423238e-01 -2.90136354e-01 -8.24925799e-02 9.71346824e+00] [ 2.89641670e-01 9.56962742e-01 -1.81662627e-02 2.43945301e+00] [ 8.42130187e-02 -6.57315158e-03 9.96426094e-01 7.99907905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105681 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:2.46, Z:0.80 [[ 9.55083684e-01 -2.84621104e-01 -8.24983906e-02 9.77114217e+00] [ 2.84108242e-01 9.58620599e-01 -1.81398359e-02 2.46134686e+00] [ 8.42476368e-02 -6.11341142e-03 9.96426095e-01 8.04959569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977105681 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:2.48, Z:0.81 [[ 9.53737016e-01 -2.89100651e-01 -8.25016222e-02 9.83147619e+00] [ 2.88605659e-01 9.57276477e-01 -1.81251267e-02 2.48115621e+00] [ 8.42168481e-02 -6.52383081e-03 9.96426095e-01 8.11743378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:2.50, Z:0.81 [[ 9.52800733e-01 -2.92169729e-01 -8.25082636e-02 9.89068764e+00] [ 2.91688739e-01 9.56342123e-01 -1.80948434e-02 2.49579034e+00] [ 8.41928935e-02 -6.82595131e-03 9.96426095e-01 8.13566193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:2.51, Z:0.82 [[ 9.53677138e-01 -2.89294719e-01 -8.25135234e-02 9.95114772e+00] [ 2.88805115e-01 9.57217348e-01 -1.80708268e-02 2.51167413e+00] [ 8.42111708e-02 -6.59659323e-03 9.96426095e-01 8.19965457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:2.53, Z:0.83 [[ 9.55224761e-01 -2.84141195e-01 -8.25193154e-02 1.00116554e+01] [ 2.83634759e-01 9.58762601e-01 -1.80443395e-02 2.52776681e+00] [ 8.42435736e-02 -6.16894622e-03 9.96426096e-01 8.26560700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:2.55, Z:0.83 [[ 9.59842671e-01 -2.68125946e-01 -8.25259000e-02 1.00710262e+01] [ 2.67562997e-01 9.63371959e-01 -1.80141744e-02 2.54954420e+00] [ 8.43332055e-02 -4.79010384e-03 9.96426096e-01 8.30361777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:2.57, Z:0.83 [[ 9.66527755e-01 -2.42925118e-01 -8.25317245e-02 1.01298528e+01] [ 2.42272317e-01 9.70041533e-01 -1.79874499e-02 2.57015065e+00] [ 8.44288040e-02 -2.60978250e-03 9.96426097e-01 8.31537823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:2.60, Z:0.84 [[ 9.72874667e-01 -2.16107522e-01 -8.25373942e-02 1.01864309e+01] [ 2.15360024e-01 9.76369525e-01 -1.79613965e-02 2.59638662e+00] [ 8.44685892e-02 -3.01067552e-04 9.96426097e-01 8.44618970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:2.61, Z:0.86 [[ 9.74541255e-01 -2.08462148e-01 -8.25401370e-02 1.02453733e+01] [ 2.07688301e-01 9.78030373e-01 -1.79487830e-02 2.60890092e+00] [ 8.44684029e-02 3.49208730e-04 9.96426097e-01 8.56023637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:2.62, Z:0.86 [[ 9.73767388e-01 -2.12045653e-01 -8.25452283e-02 1.03063225e+01] [ 2.11286633e-01 9.77259761e-01 -1.79253381e-02 2.62162750e+00] [ 8.44691201e-02 1.44062248e-05 9.96426097e-01 8.62105472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:2.63, Z:0.86 [[ 9.70480883e-01 -2.26610302e-01 -8.25507466e-02 1.03694480e+01] [ 2.25905853e-01 9.73984671e-01 -1.78998892e-02 2.62595872e+00] [ 8.44594610e-02 -1.27719653e-03 9.96426098e-01 8.61567397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577105680999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:2.63, Z:0.87 [[ 9.66733768e-01 -2.42095566e-01 -8.25563950e-02 1.04314035e+01] [ 2.41449444e-01 9.70248779e-01 -1.78737998e-02 2.62855060e+00] [ 8.44274092e-02 -2.65398987e-03 9.96426098e-01 8.65781148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:2.63, Z:0.87 [[ 9.66209245e-01 -2.44179466e-01 -8.25595770e-02 1.04948038e+01] [ 2.43542179e-01 9.69725868e-01 -1.78590905e-02 2.63363697e+00] [ 8.44209806e-02 -2.85112101e-03 9.96426098e-01 8.74553105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:2.64, Z:0.88 [[ 9.67451694e-01 -2.39207262e-01 -8.25657629e-02 1.05569093e+01] [ 2.38554342e-01 9.70965448e-01 -1.78304460e-02 2.64399783e+00] [ 8.44336751e-02 -2.44632609e-03 9.96426099e-01 8.80868983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.62, Y:2.65, Z:0.89 [[ 9.69200822e-01 -2.32016501e-01 -8.25718482e-02 1.06168703e+01] [ 2.31339909e-01 9.72710094e-01 -1.78022209e-02 2.65474651e+00] [ 8.44488792e-02 -1.84823674e-03 9.96426099e-01 8.90345083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.68, Y:2.67, Z:0.90 [[ 9.72538530e-01 -2.17601066e-01 -8.25747155e-02 1.06781087e+01] [ 2.16873576e-01 9.76037605e-01 -1.77889110e-02 2.66818701e+00] [ 8.44669136e-02 -6.07872461e-04 9.96426099e-01 8.95668367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105681 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:2.68, Z:0.90 [[ 9.77105754e-01 -1.96073353e-01 -8.25807808e-02 1.07377026e+01] [ 1.95271160e-01 9.80588462e-01 -1.77607098e-02 2.67840461e+00] [ 8.44601627e-02 1.22844683e-03 9.96426100e-01 9.04407082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105681 meters Centerline goodness : 0.999837 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:2.68, Z:0.90 [[ 9.78047698e-01 -1.91318181e-01 -8.25836151e-02 1.08025187e+01] [ 1.90500170e-01 9.81526724e-01 -1.77475209e-02 2.68049348e+00] [ 8.44534487e-02 1.62572925e-03 9.96426100e-01 9.04463941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105681 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:2.68, Z:0.91 [[ 9.75157749e-01 -2.05538908e-01 -8.25900821e-02 1.08660354e+01] [ 2.04774194e-01 9.78648877e-01 -1.77173752e-02 2.67991976e+00] [ 8.44683010e-02 3.64918232e-04 9.96426100e-01 9.08061877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:2.67, Z:0.91 [[ 9.72401064e-01 -2.18206485e-01 -8.25960067e-02 1.09301907e+01] [ 2.17489598e-01 9.75902325e-01 -1.76897125e-02 2.67056678e+00] [ 8.44656450e-02 -7.62277080e-04 9.96426100e-01 9.11142620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105681 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:10.99, Y:2.67, Z:0.92 [[ 9.73277381e-01 -2.14262848e-01 -8.25988551e-02 1.09928671e+01] [ 2.13532903e-01 9.76775944e-01 -1.76764024e-02 2.67094688e+00] [ 8.44679709e-02 -4.33530673e-04 9.96426101e-01 9.21343472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:11.06, Y:2.67, Z:0.93 [[ 9.75884404e-01 -2.02054871e-01 -8.26042330e-02 1.10551737e+01] [ 2.01283291e-01 9.79374020e-01 -1.76512351e-02 2.67481309e+00] [ 8.44669577e-02 5.98713122e-04 9.96426101e-01 9.25457827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:11.12, Y:2.67, Z:0.92 [[ 9.77091935e-01 -1.96130062e-01 -8.26096166e-02 1.11193015e+01] [ 1.95339456e-01 9.80577290e-01 -1.76260032e-02 2.67464738e+00] [ 8.44621031e-02 1.08530804e-03 9.96426101e-01 9.22788357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105681 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:2.67, Z:0.93 [[ 9.77273236e-01 -1.95222329e-01 -8.26151595e-02 1.11837632e+01] [ 1.94430685e-01 9.80758354e-01 -1.75999847e-02 2.67229801e+00] [ 8.44614179e-02 1.13707192e-03 9.96426102e-01 9.26615594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105681 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:2.66, Z:0.93 [[ 9.76939839e-01 -1.96881409e-01 -8.26211893e-02 1.12488227e+01] [ 1.96098081e-01 9.80426836e-01 -1.75716331e-02 2.66391175e+00] [ 8.44635591e-02 9.64571766e-04 9.96426102e-01 9.34280216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105681 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:2.66, Z:0.93 [[ 9.75673919e-01 -2.03059540e-01 -8.26270349e-02 1.13133734e+01] [ 2.02300625e-01 9.79166309e-01 -1.75441022e-02 2.65628332e+00] [ 8.44681062e-02 4.01822118e-04 9.96426102e-01 9.34606652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters Centerline goodness : 0.998285 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:2.64, Z:0.95 [[ 9.74274984e-01 -2.09666767e-01 -8.26323328e-02 1.13793879e+01] [ 2.08933655e-01 9.77772882e-01 -1.75191140e-02 2.63887734e+00] [ 8.44688301e-02 -1.96240796e-04 9.96426103e-01 9.48020392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105681 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:2.63, Z:0.96 [[ 9.74688398e-01 -2.07734193e-01 -8.26379509e-02 1.14427802e+01] [ 2.06996396e-01 9.78185311e-01 -1.74925733e-02 2.63470396e+00] [ 8.44690352e-02 -5.59498131e-05 9.96426103e-01 9.56262286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105681 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:2.63, Z:0.96 [[ 9.74767254e-01 -2.07361660e-01 -8.26434715e-02 1.15073286e+01] [ 2.06624741e-01 9.78264350e-01 -1.74664522e-02 2.63299529e+00] [ 8.44690345e-02 -5.04602602e-05 9.96426103e-01 9.64912545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:2.64, Z:0.97 [[ 9.74997109e-01 -2.06275505e-01 -8.26501895e-02 1.15694788e+01] [ 2.05537389e-01 9.78493953e-01 -1.74346051e-02 2.63819697e+00] [ 8.44690426e-02 1.09853825e-05 9.96426104e-01 9.68620503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105681 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:2.64, Z:0.98 [[ 9.72129067e-01 -2.19392362e-01 -8.26563302e-02 1.16323943e+01] [ 2.18703904e-01 9.75636025e-01 -1.74054441e-02 2.64312135e+00] [ 8.44611149e-02 -1.15692391e-03 9.96426104e-01 9.77118416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105681 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:2.65, Z:0.98 [[ 9.68327696e-01 -2.35603493e-01 -8.26587405e-02 1.16954545e+01] [ 2.34974700e-01 9.71845842e-01 -1.73939898e-02 2.64786675e+00] [ 8.44296380e-02 -2.57963061e-03 9.96426105e-01 9.84815334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105681 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:2.66, Z:0.99 [[ 9.68951714e-01 -2.33023002e-01 -8.26610927e-02 1.17569665e+01] [ 2.32385792e-01 9.72468345e-01 -1.73828045e-02 2.65825972e+00] [ 8.44358893e-02 -2.36616523e-03 9.96426105e-01 9.85840269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:2.67, Z:0.99 [[ 9.74711135e-01 -2.07617647e-01 -8.26626698e-02 1.18177022e+01] [ 2.06889376e-01 9.78210041e-01 -1.73753015e-02 2.67406114e+00] [ 8.44688728e-02 -1.66128266e-04 9.96426105e-01 9.91026079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105681 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:2.70, Z:0.99 [[ 9.80541872e-01 -1.78056524e-01 -8.26650518e-02 1.18781862e+01] [ 1.77223766e-01 9.84017393e-01 -1.73639617e-02 2.69509041e+00] [ 8.44356154e-02 2.37587969e-03 9.96426105e-01 9.92276941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105681 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:2.71, Z:0.99 [[ 9.79659597e-01 -1.82847374e-01 -8.26674760e-02 1.19405155e+01] [ 1.82032589e-01 9.83139375e-01 -1.73524126e-02 2.70658315e+00] [ 8.44464937e-02 1.95128281e-03 9.96426105e-01 9.85368269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:2.72, Z:0.99 [[ 9.75054342e-01 -2.05996993e-01 -8.26696349e-02 1.20017992e+01] [ 2.05265719e-01 9.78552623e-01 -1.73421212e-02 2.71608328e+00] [ 8.44690128e-02 -5.97314592e-05 9.96426105e-01 9.91417119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105681 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:2.72, Z:1.01 [[ 9.69014961e-01 -2.32756044e-01 -8.26718116e-02 1.20626865e+01] [ 2.32122218e-01 9.72532203e-01 -1.73317382e-02 2.71769270e+00] [ 8.44350659e-02 -2.39525068e-03 9.96426105e-01 1.00757424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105681 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:2.73, Z:1.02 [[ 9.69355729e-01 -2.31332340e-01 -8.26729651e-02 1.21245591e+01] [ 2.30693817e-01 9.72872121e-01 -1.73262341e-02 2.72636197e+00] [ 8.44383413e-02 -2.27685760e-03 9.96426105e-01 1.01818864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105681 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:2.74, Z:1.02 [[ 9.73840433e-01 -2.11659141e-01 -8.26753798e-02 1.21852647e+01] [ 2.10950534e-01 9.77343375e-01 -1.73147044e-02 2.74404120e+00] [ 8.44670502e-02 -5.78656298e-04 9.96426105e-01 1.02141393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:2.76, Z:1.02 [[ 9.78395505e-01 -1.89490410e-01 -8.26778058e-02 1.22466212e+01] [ 1.88703420e-01 9.81881674e-01 -1.73031128e-02 2.75653669e+00] [ 8.44585963e-02 1.32770310e-03 9.96426105e-01 1.02187019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105681 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:2.77, Z:1.03 [[ 9.79319414e-01 -1.84655174e-01 -8.26798113e-02 1.23085193e+01] [ 1.83851782e-01 9.82801840e-01 -1.72935242e-02 2.76882570e+00] [ 8.44512094e-02 1.73505339e-03 9.96426105e-01 1.02699320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105681 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:2.78, Z:1.03 [[ 9.78028373e-01 -1.91374309e-01 -8.26823785e-02 1.23704266e+01] [ 1.90595882e-01 9.81516464e-01 -1.72812414e-02 2.78313313e+00] [ 8.44613014e-02 1.14262356e-03 9.96426105e-01 1.02902185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105681 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:2.79, Z:1.03 [[ 9.77404287e-01 -1.94535455e-01 -8.26850464e-02 1.24314111e+01] [ 1.93769391e-01 9.80895113e-01 -1.72684673e-02 2.79381175e+00] [ 8.44646871e-02 8.56442913e-04 9.96426105e-01 1.03172150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105681 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:2.81, Z:1.04 [[ 9.80034112e-01 -1.80820303e-01 -8.26871038e-02 1.24921956e+01] [ 1.80006229e-01 9.83514056e-01 -1.72586100e-02 2.81024011e+00] [ 8.44446359e-02 2.02983284e-03 9.96426105e-01 1.03932958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105681 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:2.82, Z:1.04 [[ 9.83701122e-01 -1.59670093e-01 -8.26895598e-02 1.25521802e+01] [ 1.58782243e-01 9.87162978e-01 -1.72468347e-02 2.82492348e+00] [ 8.43818759e-02 3.83609680e-03 9.96426105e-01 1.03664833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105681 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:2.84, Z:1.04 [[ 9.84289123e-01 -1.56003448e-01 -8.26912734e-02 1.26132369e+01] [ 1.55103394e-01 9.87747826e-01 -1.72386148e-02 2.83505033e+00] [ 8.43674089e-02 4.14208383e-03 9.96426105e-01 1.04291530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:2.84, Z:1.05 [[ 9.82286876e-01 -1.68149780e-01 -8.26930698e-02 1.26768264e+01] [ 1.67293243e-01 9.85756612e-01 -1.72299933e-02 2.83692125e+00] [ 8.44124599e-02 3.09080450e-03 9.96426105e-01 1.04600210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105681 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:12.74, Y:2.84, Z:1.05 [[ 9.77890713e-01 -1.92070805e-01 -8.26955840e-02 1.27404882e+01] [ 1.91300217e-01 9.81380543e-01 -1.72179183e-02 2.83627529e+00] [ 8.44628965e-02 1.01755924e-03 9.96426105e-01 1.05184068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105681 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:2.83, Z:1.07 [[ 9.71709327e-01 -2.21228585e-01 -8.26976265e-02 1.28027108e+01] [ 2.20563539e-01 9.75220799e-01 -1.72081024e-02 2.83346179e+00] [ 8.44553695e-02 -1.51880760e-03 9.96426106e-01 1.06691477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105681 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:12.86, Y:2.84, Z:1.07 [[ 9.72081808e-01 -2.19585674e-01 -8.26987908e-02 1.28641522e+01] [ 2.18915169e-01 9.75592242e-01 -1.72025049e-02 2.84187851e+00] [ 8.44577224e-02 -1.38177768e-03 9.96426106e-01 1.07196423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105681 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:12.92, Y:2.86, Z:1.08 [[ 9.75089137e-01 -2.05819893e-01 -8.27003409e-02 1.29220387e+01] [ 2.05100455e-01 9.78589870e-01 -1.71950500e-02 2.86091438e+00] [ 8.44687992e-02 -1.95171059e-04 9.96426106e-01 1.07911825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105681 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:2.88, Z:1.08 [[ 9.77732127e-01 -1.92873927e-01 -8.27014866e-02 1.29826969e+01] [ 1.92108605e-01 9.81223116e-01 -1.71895376e-02 2.87984581e+00] [ 8.44640240e-02 9.19095911e-04 9.96426106e-01 1.07999887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105681 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:13.04, Y:2.89, Z:1.08 [[ 9.79016026e-01 -1.86246301e-01 -8.27039066e-02 1.30436279e+01] [ 1.85458333e-01 9.82501973e-01 -1.71778865e-02 2.89358359e+00] [ 8.44560692e-02 1.47929752e-03 9.96426106e-01 1.08056633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:13.10, Y:2.90, Z:1.08 [[ 9.81841667e-01 -1.70724134e-01 -8.27055632e-02 1.31040099e+01] [ 1.69881750e-01 9.85314866e-01 -1.71699067e-02 2.90311562e+00] [ 8.44223384e-02 2.80796399e-03 9.96426106e-01 1.08264266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105681 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:2.91, Z:1.09 [[ 9.82637997e-01 -1.66078762e-01 -8.27067823e-02 1.31653618e+01] [ 1.65220455e-01 9.86107295e-01 -1.71640324e-02 2.91395102e+00] [ 8.44083426e-02 3.20117820e-03 9.96426106e-01 1.08599287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105681 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:2.92, Z:1.09 [[ 9.81929845e-01 -1.70214843e-01 -8.27084447e-02 1.32268215e+01] [ 1.69371825e-01 9.85402890e-01 -1.71560184e-02 2.92312920e+00] [ 8.44213494e-02 2.83752627e-03 9.96426106e-01 1.09165380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105681 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:2.94, Z:1.09 [[ 9.77948808e-01 -1.91768535e-01 -8.27100800e-02 1.32884024e+01] [ 1.91002769e-01 9.81439700e-01 -1.71481307e-02 2.93730136e+00] [ 8.44634280e-02 9.72139726e-04 9.96426106e-01 1.08926686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105681 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:2.95, Z:1.11 [[ 9.74236935e-01 -2.09812066e-01 -8.27120998e-02 1.33488681e+01] [ 2.09111783e-01 9.77741550e-01 -1.71383827e-02 2.94515088e+00] [ 8.44668962e-02 -5.99229248e-04 9.96426106e-01 1.10843323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457105681 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:2.96, Z:1.12 [[ 9.73433136e-01 -2.13509665e-01 -8.27136821e-02 1.34083282e+01] [ 2.12823343e-01 9.76940511e-01 -1.71307431e-02 2.96045258e+00] [ 8.44639261e-02 -9.27769359e-04 9.96426106e-01 1.12408990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:2.97, Z:1.12 [[ 9.75251697e-01 -2.05042227e-01 -8.27152496e-02 1.34699204e+01] [ 2.04326093e-01 9.78753107e-01 -1.71231710e-02 2.97136750e+00] [ 8.44687807e-02 -2.01482235e-04 9.96426106e-01 1.12162720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577105680999999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:2.98, Z:1.13 [[ 9.74757791e-01 -2.07376860e-01 -8.27169089e-02 1.35292305e+01] [ 2.06669793e-01 9.78261043e-01 -1.71151517e-02 2.98360299e+00] [ 8.44680160e-02 -4.11959056e-04 9.96426106e-01 1.12756680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:2.99, Z:1.13 [[ 9.75894035e-01 -2.01961083e-01 -8.27197245e-02 1.35911231e+01] [ 2.01235728e-01 9.79393547e-01 -1.71015329e-02 2.99084068e+00] [ 8.44690084e-02 4.31200050e-05 9.96426106e-01 1.12852353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105681 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:13.65, Y:3.00, Z:1.13 [[ 9.78455851e-01 -1.89159532e-01 -8.27213313e-02 1.36515820e+01] [ 1.88389054e-01 9.81945705e-01 -1.70937571e-02 3.00277492e+00] [ 8.44613031e-02 1.14169329e-03 9.96426106e-01 1.13374438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:13.71, Y:3.02, Z:1.13 [[ 9.81109244e-01 -1.74875874e-01 -8.27229147e-02 1.37125026e+01] [ 1.74055250e-01 9.84587647e-01 -1.70860908e-02 3.01644330e+00] [ 8.44359051e-02 2.36496400e-03 9.96426106e-01 1.13200760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:13.77, Y:3.02, Z:1.13 [[ 9.83843761e-01 -1.58770606e-01 -8.27245366e-02 1.37748696e+01] [ 1.57893735e-01 9.87308413e-01 -1.70782346e-02 3.02374734e+00] [ 8.43861526e-02 3.74062849e-03 9.96426106e-01 1.13179391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105681 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:3.03, Z:1.13 [[ 9.85713788e-01 -1.46713017e-01 -8.27261705e-02 1.38343096e+01] [ 1.45794454e-01 9.89167620e-01 -1.70703166e-02 3.03458697e+00] [ 8.43344868e-02 4.76542957e-03 9.96426106e-01 1.13368834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:3.03, Z:1.14 [[ 9.84638797e-01 -1.53761999e-01 -8.27265772e-02 1.38959872e+01] [ 1.52868338e-01 9.88099156e-01 -1.70683452e-02 3.03136156e+00] [ 8.43665241e-02 4.15988054e-03 9.96426106e-01 1.13841348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:13.96, Y:3.03, Z:1.15 [[ 9.78522317e-01 -1.88813464e-01 -8.27257595e-02 1.39554409e+01] [ 1.88043564e-01 9.82012298e-01 -1.70723078e-02 3.03149732e+00] [ 8.44611948e-02 1.14958753e-03 9.96426106e-01 1.15329501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:3.03, Z:1.17 [[ 9.74259422e-01 -2.09702568e-01 -8.27249126e-02 1.40155218e+01] [ 2.09007152e-01 9.77765006e-01 -1.70764102e-02 3.03138930e+00] [ 8.44664917e-02 -6.53244901e-04 9.96426106e-01 1.17011408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:3.04, Z:1.19 [[ 9.71250641e-01 -2.23223761e-01 -8.27245101e-02 1.40726119e+01] [ 2.22576972e-01 9.74765521e-01 -1.70783597e-02 3.04070381e+00] [ 8.44492959e-02 -1.82520315e-03 9.96426106e-01 1.18517171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:3.06, Z:1.19 [[ 9.71193163e-01 -2.23475729e-01 -8.27190367e-02 1.41307337e+01] [ 2.22827598e-01 9.74707795e-01 -1.71048295e-02 3.06073175e+00] [ 8.44494041e-02 -1.81999076e-03 9.96426107e-01 1.18671408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:3.08, Z:1.18 [[ 9.72955048e-01 -2.15675457e-01 -8.27198332e-02 1.41880910e+01] [ 2.14999473e-01 9.76464430e-01 -1.71009766e-02 3.08132152e+00] [ 8.44612358e-02 -1.14623905e-03 9.96426107e-01 1.17543771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:3.10, Z:1.18 [[ 9.72996726e-01 -2.15487508e-01 -8.27194396e-02 1.42464706e+01] [ 2.14810684e-01 9.76505945e-01 -1.71028805e-02 3.09733557e+00] [ 8.44614816e-02 -1.12797263e-03 9.96426107e-01 1.18194541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:3.12, Z:1.20 [[ 9.73118823e-01 -2.14935458e-01 -8.27194396e-02 1.43036755e+01] [ 2.14256643e-01 9.76627658e-01 -1.71028805e-02 3.12148947e+00] [ 8.44621080e-02 -1.08005445e-03 9.96426107e-01 1.19665696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:3.14, Z:1.20 [[ 9.73183908e-01 -2.14639949e-01 -8.27210622e-02 1.43617811e+01] [ 2.13960736e-01 9.76692666e-01 -1.70950290e-02 3.14158419e+00] [ 8.44623309e-02 -1.06245217e-03 9.96426107e-01 1.20223087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105681 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:3.17, Z:1.20 [[ 9.75933184e-01 -2.01770783e-01 -8.27222523e-02 1.44199211e+01] [ 2.01045786e-01 9.79432769e-01 -1.70892678e-02 3.16625534e+00] [ 8.44689996e-02 4.70233378e-05 9.96426107e-01 1.20351757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105681 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:3.19, Z:1.20 [[ 9.82608500e-01 -1.66244763e-01 -8.27237281e-02 1.44786887e+01] [ 1.65393928e-01 9.86079637e-01 -1.70821211e-02 3.19208647e+00] [ 8.44119969e-02 3.10303508e-03 9.96426107e-01 1.19660567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105681 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:14.54, Y:3.21, Z:1.20 [[ 9.84972887e-01 -1.51607796e-01 -8.27253755e-02 1.45388688e+01] [ 1.50706082e-01 9.88431156e-01 -1.70741394e-02 3.21035301e+00] [ 8.43569112e-02 4.35034717e-03 9.96426107e-01 1.19858420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999999 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:14.60, Y:3.21, Z:1.21 [[ 9.83396668e-01 -1.61515422e-01 -8.27270383e-02 1.46010199e+01] [ 1.60649243e-01 9.86864008e-01 -1.70660790e-02 3.21330544e+00] [ 8.43967715e-02 3.49268916e-03 9.96426107e-01 1.20562743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105681 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:14.66, Y:3.22, Z:1.21 [[ 9.81278916e-01 -1.73918514e-01 -8.27287149e-02 1.46625269e+01] [ 1.73096866e-01 9.84757077e-01 -1.70579477e-02 3.22006731e+00] [ 8.44343804e-02 2.41852311e-03 9.96426107e-01 1.21413902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105681 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:14.72, Y:3.23, Z:1.22 [[ 9.80266379e-01 -1.79536941e-01 -8.27303670e-02 1.47227856e+01] [ 1.78735907e-01 9.83749346e-01 -1.70499316e-02 3.22801113e+00] [ 8.44470369e-02 1.92658750e-03 9.96426107e-01 1.21929321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105681 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:3.23, Z:1.23 [[ 9.79662951e-01 -1.82800407e-01 -8.27315745e-02 1.47848662e+01] [ 1.82011472e-01 9.83148678e-01 -1.70440702e-02 3.23251028e+00] [ 8.44531011e-02 1.63934844e-03 9.96426107e-01 1.22770404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:3.24, Z:1.23 [[ 9.78110527e-01 -1.90931971e-01 -8.27331857e-02 1.48462479e+01] [ 1.90172680e-01 9.81602831e-01 -1.70362458e-02 3.23617314e+00] [ 8.44638933e-02 9.29739690e-04 9.96426107e-01 1.23075460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105681 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:3.24, Z:1.24 [[ 9.75363466e-01 -2.04502158e-01 -8.27343682e-02 1.49079365e+01] [ 2.03791945e-01 9.78866081e-01 -1.70305010e-02 3.23842960e+00] [ 8.44686410e-02 -2.49669362e-04 9.96426107e-01 1.24045696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:3.24, Z:1.24 [[ 9.73964509e-01 -2.11064044e-01 -8.27351443e-02 1.49673853e+01] [ 2.10377749e-01 9.77471889e-01 -1.70267301e-02 3.24271343e+00] [ 8.44650083e-02 -8.22202573e-04 9.96426107e-01 1.24440778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999999 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:3.26, Z:1.25 [[ 9.74525538e-01 -2.08458621e-01 -8.27343836e-02 1.50267036e+01] [ 2.07762635e-01 9.78031008e-01 -1.70304257e-02 3.25754275e+00] [ 8.44669316e-02 -5.92528771e-04 9.96426107e-01 1.24806984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105681 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:3.28, Z:1.25 [[ 9.74183615e-01 -2.10050412e-01 -8.27351715e-02 1.50834399e+01] [ 2.09360478e-01 9.77690281e-01 -1.70265971e-02 3.28097081e+00] [ 8.44658168e-02 -7.34443172e-04 9.96426107e-01 1.24909118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:3.31, Z:1.25 [[ 9.72292019e-01 -2.18639099e-01 -8.27355679e-02 1.51398926e+01] [ 2.17980302e-01 9.75804667e-01 -1.70246705e-02 3.30538553e+00] [ 8.44560119e-02 -1.48177287e-03 9.96426107e-01 1.25250755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:3.33, Z:1.26 [[ 9.72789212e-01 -2.16416054e-01 -8.27359647e-02 1.51975051e+01] [ 2.15749393e-01 9.76300377e-01 -1.70227419e-02 3.33219105e+00] [ 8.44591482e-02 -1.29069447e-03 9.96426107e-01 1.26190309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105681 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:3.36, Z:1.26 [[ 9.74254789e-01 -2.09719104e-01 -8.27375550e-02 1.52541035e+01] [ 2.09028962e-01 9.77761414e-01 -1.70150091e-02 3.35982250e+00] [ 8.44659612e-02 -7.17591123e-04 9.96426107e-01 1.26353795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105681 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:3.39, Z:1.28 [[ 9.75695022e-01 -2.02912601e-01 -8.27387478e-02 1.53111131e+01] [ 2.02198488e-01 9.79196844e-01 -1.70092066e-02 3.38699431e+00] [ 8.44689031e-02 -1.33851479e-04 9.96426107e-01 1.27769227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105681 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:3.41, Z:1.28 [[ 9.76619839e-01 -1.98413041e-01 -8.27402935e-02 1.53690878e+01] [ 1.97683431e-01 9.80118464e-01 -1.70016846e-02 3.41370879e+00] [ 8.44686453e-02 2.47797429e-04 9.96426107e-01 1.28053268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999999 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:3.44, Z:1.28 [[ 9.78672782e-01 -1.88024922e-01 -8.27418593e-02 1.54287920e+01] [ 1.87258824e-01 9.82163599e-01 -1.69940610e-02 3.43662463e+00] [ 8.44613493e-02 1.13748174e-03 9.96426107e-01 1.27783716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105681 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:15.49, Y:3.46, Z:1.28 [[ 9.81026042e-01 -1.75332150e-01 -8.27438361e-02 1.54879045e+01] [ 1.74521710e-01 9.84506832e-01 -1.69844302e-02 3.45645001e+00] [ 8.44397886e-02 2.22157258e-03 9.96426107e-01 1.28071434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105681 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:3.47, Z:1.29 [[ 9.82457479e-01 -1.67124191e-01 -8.27454322e-02 1.55473402e+01] [ 1.66285333e-01 9.85931530e-01 -1.69766510e-02 3.47457200e+00] [ 8.44185396e-02 2.91948601e-03 9.96426107e-01 1.28673641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105681 meters Centerline goodness : 0.998221 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:3.49, Z:1.29 [[ 9.80686977e-01 -1.77216672e-01 -8.27484387e-02 1.56086179e+01] [ 1.76414814e-01 9.84169754e-01 -1.69619840e-02 3.48654131e+00] [ 8.44444569e-02 2.03634640e-03 9.96426107e-01 1.29144814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105681 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:3.50, Z:1.30 [[ 9.78166989e-01 -1.90635158e-01 -8.27500948e-02 1.56691651e+01] [ 1.89881772e-01 9.81660572e-01 -1.69539006e-02 3.49713356e+00] [ 8.44645149e-02 8.71011221e-04 9.96426107e-01 1.29718659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105681 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:3.50, Z:1.30 [[ 9.74322848e-01 -2.09396959e-01 -8.27520509e-02 1.57318730e+01] [ 2.08711658e-01 9.77830421e-01 -1.69443476e-02 3.49951785e+00] [ 8.44655676e-02 -7.62052772e-04 9.96426107e-01 1.30372897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105681 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:3.50, Z:1.31 [[ 9.72340488e-01 -2.18416602e-01 -8.27536271e-02 1.57943418e+01] [ 2.17764489e-01 9.75854383e-01 -1.69366460e-02 3.50468549e+00] [ 8.44547344e-02 -1.55261465e-03 9.96426107e-01 1.31125398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999999 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:3.51, Z:1.32 [[ 9.67990430e-01 -2.36951334e-01 -8.27562225e-02 1.58562628e+01] [ 2.36367550e-01 9.71516321e-01 -1.69239549e-02 3.50965977e+00] [ 8.44091745e-02 -3.17865911e-03 9.96426107e-01 1.31873929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105681 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:3.52, Z:1.33 [[ 9.64764947e-01 -2.49759300e-01 -8.27580159e-02 1.59170207e+01] [ 2.49223046e-01 9.68298379e-01 -1.69151806e-02 3.51690380e+00] [ 8.43591763e-02 -4.30603145e-03 9.96426107e-01 1.32629875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105681 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:3.53, Z:1.33 [[ 9.64442646e-01 -2.50999329e-01 -8.27630375e-02 1.59780730e+01] [ 2.50469723e-01 9.67977080e-01 -1.68905752e-02 3.52805690e+00] [ 8.43522464e-02 -4.43964405e-03 9.96426108e-01 1.32825364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:3.54, Z:1.33 [[ 9.65866996e-01 -2.45460754e-01 -8.27645114e-02 1.60377798e+01] [ 2.44911492e-01 9.69398429e-01 -1.68833500e-02 3.54490043e+00] [ 8.43759871e-02 -3.96290945e-03 9.96426108e-01 1.33425214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105681 meters Centerline goodness : 0.998645 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:3.56, Z:1.35 [[ 9.64395815e-01 -2.51178064e-01 -8.27664918e-02 1.60966868e+01] [ 2.50650562e-01 9.67930564e-01 -1.68736358e-02 3.56340354e+00] [ 8.43505043e-02 -4.47260401e-03 9.96426108e-01 1.34647393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:3.58, Z:1.35 [[ 9.63173233e-01 -2.55825632e-01 -8.27681696e-02 1.61566344e+01] [ 2.55315887e-01 9.66710586e-01 -1.68654022e-02 3.58157631e+00] [ 8.43274679e-02 -4.88772465e-03 9.96426108e-01 1.34933212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:3.60, Z:1.35 [[ 9.61578711e-01 -2.61753480e-01 -8.27737786e-02 1.62152781e+01] [ 2.61267897e-01 9.65119461e-01 -1.68378290e-02 3.60499673e+00] [ 8.42939449e-02 -5.43523316e-03 9.96426108e-01 1.34964867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105681 meters Centerline goodness : 0.998023 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:3.63, Z:1.35 [[ 9.59385466e-01 -2.69680909e-01 -8.27752114e-02 1.62739370e+01] [ 2.69225170e-01 9.62930181e-01 -1.68307820e-02 3.63105615e+00] [ 8.42456899e-02 -6.13796267e-03 9.96426108e-01 1.34949531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:3.66, Z:1.35 [[ 9.57962808e-01 -2.74690143e-01 -8.27803303e-02 1.63307046e+01] [ 2.74255096e-01 9.61510122e-01 -1.68055679e-02 3.66294792e+00] [ 8.42104493e-02 -6.60381839e-03 9.96426109e-01 1.35314041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457105680999998 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:3.69, Z:1.36 [[ 9.59197480e-01 -2.70345677e-01 -8.27853271e-02 1.63860223e+01] [ 2.69896673e-01 9.62743053e-01 -1.67809171e-02 3.69498475e+00] [ 8.42376470e-02 -6.24727096e-03 9.96426109e-01 1.36000616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105681 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:3.74, Z:1.37 [[ 9.64307132e-01 -2.51511989e-01 -8.27857130e-02 1.64401678e+01] [ 2.50993810e-01 9.67843258e-01 -1.67790131e-02 3.73628089e+00] [ 8.43437172e-02 -4.59857948e-03 9.96426109e-01 1.37436145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:3.77, Z:1.38 [[ 9.70178985e-01 -2.27812246e-01 -8.27908077e-02 1.64969171e+01] [ 2.27209738e-01 9.73701722e-01 -1.67538375e-02 3.77196666e+00] [ 8.44302814e-02 -2.55665661e-03 9.96426109e-01 1.38101975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105681 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:3.81, Z:1.39 [[ 9.75614144e-01 -2.03277532e-01 -8.27966566e-02 1.65530236e+01] [ 2.02588849e-01 9.79121053e-01 -1.67248827e-02 3.80575303e+00] [ 8.44677424e-02 -4.56647262e-04 9.96426110e-01 1.39169179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105681 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:3.83, Z:1.39 [[ 9.77376393e-01 -1.94625928e-01 -8.28017784e-02 1.66134749e+01] [ 1.93908353e-01 9.80877504e-01 -1.66994868e-02 3.82742910e+00] [ 8.44685549e-02 2.65727682e-04 9.96426110e-01 1.39442337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:3.85, Z:1.39 [[ 9.76109130e-01 -2.00882721e-01 -8.28076040e-02 1.66740018e+01] [ 2.00190043e-01 9.79615251e-01 -1.66705499e-02 3.84690185e+00] [ 8.44684171e-02 -3.04981836e-04 9.96426110e-01 1.39149645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105681 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:3.86, Z:1.39 [[ 9.74723699e-01 -2.07500145e-01 -8.28094200e-02 1.67330894e+01] [ 2.06832035e-01 9.78234585e-01 -1.66615242e-02 3.86326711e+00] [ 8.44643072e-02 -8.87258405e-04 9.96426110e-01 1.39157340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105681 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:3.87, Z:1.39 [[ 9.72641873e-01 -2.17047510e-01 -8.28140371e-02 1.67930957e+01] [ 2.16415814e-01 9.76159492e-01 -1.66385439e-02 3.87445572e+00] [ 8.44510629e-02 -1.73892276e-03 9.96426111e-01 1.39343361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:3.89, Z:1.40 [[ 9.71062374e-01 -2.24006594e-01 -8.28185465e-02 1.68532895e+01] [ 2.23402017e-01 9.74584755e-01 -1.66160679e-02 3.88693575e+00] [ 8.44358016e-02 -2.36659193e-03 9.96426111e-01 1.40307561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:3.90, Z:1.41 [[ 9.70609617e-01 -2.25958493e-01 -8.28234989e-02 1.69136454e+01] [ 2.25363106e-01 9.74133563e-01 -1.65913456e-02 3.89854335e+00] [ 8.44301055e-02 -2.56164138e-03 9.96426111e-01 1.41383846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:3.91, Z:1.42 [[ 9.69909761e-01 -2.28942147e-01 -8.28284307e-02 1.69756053e+01] [ 2.28359703e-01 9.73435869e-01 -1.65666886e-02 3.90927126e+00] [ 8.44209786e-02 -2.84648283e-03 9.96426112e-01 1.41601428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:17.04, Y:3.92, Z:1.41 [[ 9.67736223e-01 -2.37960301e-01 -8.28341588e-02 1.70379107e+01] [ 2.37413155e-01 9.71267980e-01 -1.65379983e-02 3.91613606e+00] [ 8.43895531e-02 -3.66149894e-03 9.96426112e-01 1.41280762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105681 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:3.93, Z:1.42 [[ 9.65324748e-01 -2.47559631e-01 -8.28393605e-02 1.70970382e+01] [ 2.47049820e-01 9.68862087e-01 -1.65119018e-02 3.92830841e+00] [ 8.43475960e-02 -4.52610167e-03 9.96426112e-01 1.42127968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:3.95, Z:1.43 [[ 9.66576083e-01 -2.42626946e-01 -8.28422701e-02 1.71571653e+01] [ 2.42100327e-01 9.70110958e-01 -1.64972907e-02 3.94693962e+00] [ 8.43688813e-02 -4.11025406e-03 9.96426113e-01 1.42526653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297105681 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:3.97, Z:1.43 [[ 9.68345454e-01 -2.35465390e-01 -8.28440171e-02 1.72165551e+01] [ 2.34913369e-01 9.71876452e-01 -1.64885133e-02 3.96583176e+00] [ 8.43966236e-02 -3.49459023e-03 9.96426113e-01 1.42977158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:3.98, Z:1.43 [[ 9.67098728e-01 -2.40533019e-01 -8.28487614e-02 1.72775545e+01] [ 2.40001536e-01 9.70632875e-01 -1.64646407e-02 3.98332594e+00] [ 8.43760212e-02 -3.96089690e-03 9.96426113e-01 1.43413984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:4.00, Z:1.44 [[ 9.66151934e-01 -2.44306286e-01 -8.28545688e-02 1.73378524e+01] [ 2.43791107e-01 9.69688494e-01 -1.64353645e-02 4.00371745e+00] [ 8.43583848e-02 -4.32014785e-03 9.96426113e-01 1.44016134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.40, Y:4.02, Z:1.44 [[ 9.65411774e-01 -2.47212949e-01 -8.28605109e-02 1.73985268e+01] [ 2.46710984e-01 9.68950233e-01 -1.64053521e-02 4.01732924e+00] [ 8.43433268e-02 -4.60467816e-03 9.96426114e-01 1.43842088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:4.04, Z:1.45 [[ 9.64517417e-01 -2.50678449e-01 -8.28641550e-02 1.74580994e+01] [ 2.50190772e-01 9.68057873e-01 -1.63869249e-02 4.03730918e+00] [ 8.43251466e-02 -4.92637246e-03 9.96426114e-01 1.44952609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:4.06, Z:1.46 [[ 9.66665252e-01 -2.42261931e-01 -8.28700620e-02 1.75151267e+01] [ 2.41745972e-01 9.70201697e-01 -1.63569983e-02 4.06103782e+00] [ 8.43633528e-02 -4.22176180e-03 9.96426114e-01 1.45670719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657105681 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:4.08, Z:1.46 [[ 9.68567500e-01 -2.34539493e-01 -8.28747545e-02 1.75752301e+01] [ 2.33997361e-01 9.72100027e-01 -1.63331887e-02 4.07789827e+00] [ 8.43933288e-02 -3.57267811e-03 9.96426115e-01 1.46204094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:4.10, Z:1.47 [[ 9.73115058e-01 -2.14890912e-01 -8.28793134e-02 1.76334066e+01] [ 2.14279376e-01 9.76636233e-01 -1.63100227e-02 4.10427820e+00] [ 8.44478161e-02 -1.88779892e-03 9.96426115e-01 1.46704095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:4.12, Z:1.47 [[ 9.74591140e-01 -2.08091955e-01 -8.28845477e-02 1.76933247e+01] [ 2.07458117e-01 9.78108369e-01 -1.62833793e-02 4.12032802e+00] [ 8.44585101e-02 -1.32543495e-03 9.96426115e-01 1.46755045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:4.14, Z:1.47 [[ 9.77004032e-01 -1.96449713e-01 -8.28892722e-02 1.77523350e+01] [ 1.95776000e-01 9.80513841e-01 -1.62592944e-02 4.14210766e+00] [ 8.44682124e-02 -3.42333962e-04 9.96426116e-01 1.47003981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:4.16, Z:1.48 [[ 9.80604276e-01 -1.77605727e-01 -8.28942721e-02 1.78116698e+01] [ 1.76866732e-01 9.84100922e-01 -1.62337636e-02 4.15994154e+00] [ 8.44595390e-02 1.25765903e-03 9.96426116e-01 1.47605027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:4.17, Z:1.49 [[ 9.79923495e-01 -1.81321962e-01 -8.28992767e-02 1.78708710e+01] [ 1.80598393e-01 9.83423365e-01 -1.62081671e-02 4.17388721e+00] [ 8.44639823e-02 9.11287606e-04 9.96426116e-01 1.49317429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:4.18, Z:1.50 [[ 9.77584620e-01 -1.93533404e-01 -8.29043571e-02 1.79321834e+01] [ 1.92855764e-01 9.81093672e-01 -1.61821393e-02 4.17684098e+00] [ 8.44687246e-02 -1.69172661e-04 9.96426117e-01 1.50015004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:4.19, Z:1.50 [[ 9.76955529e-01 -1.96683226e-01 -8.29072011e-02 1.79943774e+01] [ 1.96018136e-01 9.80466981e-01 -1.61675552e-02 4.18522113e+00] [ 8.44676601e-02 -4.56332595e-04 9.96426117e-01 1.50319235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:4.19, Z:1.51 [[ 9.77564179e-01 -1.93633201e-01 -8.29123614e-02 1.80575616e+01] [ 1.92959404e-01 9.81073970e-01 -1.61410483e-02 4.18819866e+00] [ 8.44686024e-02 -2.19809258e-04 9.96426117e-01 1.50840532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.12, Y:4.19, Z:1.51 [[ 9.80174781e-01 -1.79950106e-01 -8.29177800e-02 1.81205157e+01] [ 1.79229674e-01 9.83675297e-01 -1.61131646e-02 4.19366976e+00] [ 8.44637375e-02 9.32390904e-04 9.96426118e-01 1.51000814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:4.20, Z:1.51 [[ 9.82146676e-01 -1.68854279e-01 -8.29224845e-02 1.81827825e+01] [ 1.68096353e-01 9.85639266e-01 -1.60889178e-02 4.20055456e+00] [ 8.44483393e-02 1.86270986e-03 9.96426118e-01 1.50734619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:4.20, Z:1.50 [[ 9.82612080e-01 -1.66122209e-01 -8.29271510e-02 1.82455501e+01] [ 1.65356604e-01 9.86102994e-01 -1.60648292e-02 4.20264893e+00] [ 8.44434368e-02 2.07294310e-03 9.96426118e-01 1.50404031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:4.21, Z:1.51 [[ 9.80596334e-01 -1.77633894e-01 -8.29278512e-02 1.83070553e+01] [ 1.76909586e-01 9.84096050e-01 -1.60612136e-02 4.20526667e+00] [ 8.44619868e-02 1.07883536e-03 9.96426118e-01 1.51499820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:4.20, Z:1.52 [[ 9.77586907e-01 -1.93509891e-01 -8.29322730e-02 1.83708695e+01] [ 1.92844362e-01 9.81098274e-01 -1.60383491e-02 4.20222604e+00] [ 8.44682891e-02 -3.14141201e-04 9.96426118e-01 1.51720102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:4.20, Z:1.53 [[ 9.75545843e-01 -2.03547957e-01 -8.29369445e-02 1.84339280e+01] [ 2.02920611e-01 9.79064233e-01 -1.60141559e-02 4.19872612e+00] [ 8.44602447e-02 -1.20707225e-03 9.96426119e-01 1.52678781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105681 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:4.19, Z:1.53 [[ 9.73098772e-01 -2.14940622e-01 -8.29415998e-02 1.84984765e+01] [ 2.14356515e-01 9.76624597e-01 -1.59900083e-02 4.19342449e+00] [ 8.44397089e-02 -2.21921483e-03 9.96426119e-01 1.53485427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:4.20, Z:1.54 [[ 9.70578484e-01 -2.26046750e-01 -8.29474070e-02 1.85624328e+01] [ 2.25505548e-01 9.74111150e-01 -1.59598274e-02 4.19629323e+00] [ 8.44076611e-02 -3.21483537e-03 9.96426119e-01 1.53799254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105681 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:4.20, Z:1.54 [[ 9.68713743e-01 -2.33906899e-01 -8.29532862e-02 1.86247164e+01] [ 2.33396967e-01 9.72251056e-01 -1.59292107e-02 4.20049505e+00] [ 8.43773724e-02 -3.93020012e-03 9.96426120e-01 1.54185626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:4.21, Z:1.55 [[ 9.70187461e-01 -2.27715063e-01 -8.29586682e-02 1.86871770e+01] [ 2.27184946e-01 9.73721805e-01 -1.59011320e-02 4.20949249e+00] [ 8.43995915e-02 -3.41988164e-03 9.96426120e-01 1.54578582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:4.23, Z:1.56 [[ 9.74178083e-01 -2.09985636e-01 -8.29644195e-02 1.87455794e+01] [ 2.09393716e-01 9.77702603e-01 -1.58710681e-02 4.22602444e+00] [ 8.44472253e-02 -1.91098145e-03 9.96426121e-01 1.55523378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105681 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:4.24, Z:1.56 [[ 9.79760126e-01 -1.82170915e-01 -8.29689854e-02 1.88052972e+01] [ 1.81480935e-01 9.83266768e-01 -1.58471633e-02 4.24252302e+00] [ 8.44675384e-02 4.69129756e-04 9.96426121e-01 1.55882422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:4.25, Z:1.56 [[ 9.80964206e-01 -1.75569207e-01 -8.29739771e-02 1.88663955e+01] [ 1.74857844e-01 9.84466572e-01 -1.58209839e-02 4.25215357e+00] [ 8.44627844e-02 1.01116821e-03 9.96426121e-01 1.56335462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105681 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:4.26, Z:1.57 [[ 9.81018135e-01 -1.75265387e-01 -8.29786922e-02 1.89272603e+01] [ 1.74555033e-01 9.84520706e-01 -1.57962153e-02 4.26002572e+00] [ 8.44627704e-02 1.01202527e-03 9.96426122e-01 1.57309617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105681 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:4.26, Z:1.57 [[ 9.79806468e-01 -1.81914932e-01 -8.29833923e-02 1.89905098e+01] [ 1.81230445e-01 9.83314185e-01 -1.57714853e-02 4.26404615e+00] [ 8.44678155e-02 4.13886253e-04 9.96426122e-01 1.57437408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:4.26, Z:1.57 [[ 9.77444551e-01 -1.94205097e-01 -8.29851238e-02 1.90528418e+01] [ 1.93565488e-01 9.80960728e-01 -1.57623695e-02 4.26440654e+00] [ 8.44662800e-02 -6.56213856e-04 9.96426122e-01 1.57118756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105681 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:4.27, Z:1.58 [[ 9.75984467e-01 -2.01414191e-01 -8.29858090e-02 1.91133938e+01] [ 2.00800858e-01 9.79505323e-01 -1.57587616e-02 4.27234971e+00] [ 8.44590798e-02 -1.28331513e-03 9.96426122e-01 1.58295800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105681 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:4.28, Z:1.59 [[ 9.74312225e-01 -2.09352107e-01 -8.29902622e-02 1.91756550e+01] [ 2.08769454e-01 9.77838287e-01 -1.57352743e-02 4.27695745e+00] [ 8.44452687e-02 -1.99476160e-03 9.96426122e-01 1.58687746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:4.28, Z:1.60 [[ 9.72166173e-01 -2.19099871e-01 -8.29950566e-02 1.92360223e+01] [ 2.18554722e-01 9.75698227e-01 -1.57099459e-02 4.28463287e+00] [ 8.44201768e-02 -2.86628356e-03 9.96426123e-01 1.59757319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105681 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:4.29, Z:1.61 [[ 9.68508190e-01 -2.34740243e-01 -8.29994249e-02 1.92963502e+01] [ 2.34254068e-01 9.72048844e-01 -1.56868332e-02 4.29091418e+00] [ 8.43618261e-02 -4.25012647e-03 9.96426123e-01 1.61499842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105681 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:4.30, Z:1.61 [[ 9.66827766e-01 -2.41567268e-01 -8.30019600e-02 1.93588243e+01] [ 2.41107233e-01 9.70371911e-01 -1.56734083e-02 4.29701722e+00] [ 8.43289530e-02 -4.85888656e-03 9.96426123e-01 1.61236674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457105680999998 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:4.32, Z:1.62 [[ 9.64048817e-01 -2.52427638e-01 -8.30070206e-02 1.94182358e+01] [ 2.52009800e-01 9.67598184e-01 -1.56465615e-02 4.31510466e+00] [ 8.42670669e-02 -5.83453354e-03 9.96426124e-01 1.62133130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517105681 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:4.33, Z:1.62 [[ 9.63507029e-01 -2.54486653e-01 -8.30105376e-02 1.94795320e+01] [ 2.54078000e-01 9.67057464e-01 -1.56278804e-02 4.32763076e+00] [ 8.42530469e-02 -6.03357871e-03 9.96426124e-01 1.61783106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577105681 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:4.36, Z:1.63 [[ 9.68581985e-01 -2.34429858e-01 -8.30155352e-02 1.95357514e+01] [ 2.33949861e-01 9.72123481e-01 -1.56012880e-02 4.35921119e+00] [ 8.43587588e-02 -4.31034643e-03 9.96426124e-01 1.62782735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637105681 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:4.39, Z:1.63 [[ 9.74283672e-01 -2.09473826e-01 -8.30183245e-02 1.95941057e+01] [ 2.08904286e-01 9.77811875e-01 -1.55864314e-02 4.38664741e+00] [ 8.44412529e-02 -2.15727820e-03 9.96426124e-01 1.62758460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697105681 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:4.41, Z:1.64 [[ 9.77905984e-01 -1.91851396e-01 -8.30236664e-02 1.96494378e+01] [ 1.91220676e-01 9.81423764e-01 -1.55579248e-02 4.41433693e+00] [ 8.44662087e-02 -6.61653869e-04 9.96426125e-01 1.63736043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:4.44, Z:1.64 [[ 9.80329947e-01 -1.79053649e-01 -8.30240095e-02 1.97073262e+01] [ 1.78377160e-01 9.83839213e-01 -1.55560935e-02 4.43992199e+00] [ 8.44676515e-02 4.40517265e-04 9.96426125e-01 1.64486204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:4.45, Z:1.65 [[ 9.80725743e-01 -1.76870588e-01 -8.30289810e-02 1.97676769e+01] [ 1.76188538e-01 9.84233932e-01 -1.55295137e-02 4.45368323e+00] [ 8.44666546e-02 6.01439080e-04 9.96426125e-01 1.65129500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:4.46, Z:1.66 [[ 9.78395153e-01 -1.89336634e-01 -8.30335100e-02 1.98295918e+01] [ 1.88701341e-01 9.81912109e-01 -1.55052602e-02 4.46224768e+00] [ 8.44673227e-02 -4.98263283e-04 9.96426125e-01 1.66085670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:4.47, Z:1.66 [[ 9.75485943e-01 -2.03793333e-01 -8.30388616e-02 1.98918380e+01] [ 2.03212593e-01 9.79012318e-01 -1.54765464e-02 4.46855364e+00] [ 8.44500853e-02 -1.77738897e-03 9.96426126e-01 1.66234402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105681 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:4.47, Z:1.66 [[ 9.73723218e-01 -2.12053927e-01 -8.30435293e-02 1.99539705e+01] [ 2.11505234e-01 9.77254720e-01 -1.54514598e-02 4.47398284e+00] [ 8.44312238e-02 -2.51869592e-03 9.96426126e-01 1.66317016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:4.48, Z:1.66 [[ 9.73741769e-01 -2.11966921e-01 -8.30481267e-02 2.00170275e+01] [ 2.11420022e-01 9.77273550e-01 -1.54267106e-02 4.47508485e+00] [ 8.44306899e-02 -2.53640429e-03 9.96426126e-01 1.66266080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117105680999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:4.48, Z:1.67 [[ 9.74184702e-01 -2.09920062e-01 -8.30525946e-02 2.00790304e+01] [ 2.09367793e-01 9.77715647e-01 -1.54026192e-02 4.48390458e+00] [ 8.44351401e-02 -2.38354243e-03 9.96426127e-01 1.66723690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177105681 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:4.50, Z:1.68 [[ 9.73867476e-01 -2.11384717e-01 -8.30580576e-02 2.01386203e+01] [ 2.10840274e-01 9.77399635e-01 -1.53731041e-02 4.49607839e+00] [ 8.44305544e-02 -2.54061757e-03 9.96426127e-01 1.68344148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:4.50, Z:1.69 [[ 9.74538135e-01 -2.08270381e-01 -8.30594450e-02 2.01990457e+01] [ 2.07715287e-01 9.78068636e-01 -1.53656042e-02 4.50215089e+00] [ 8.44380384e-02 -2.27834923e-03 9.96426127e-01 1.69467999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:20.26, Y:4.51, Z:1.70 [[ 9.74706832e-01 -2.07477724e-01 -8.30637422e-02 2.02606178e+01] [ 2.06921741e-01 9.78237193e-01 -1.53423395e-02 4.50709672e+00] [ 8.44392357e-02 -2.23341099e-03 9.96426127e-01 1.70362130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105681 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:4.51, Z:1.71 [[ 9.75264018e-01 -2.04840765e-01 -8.30683833e-02 2.03235954e+01] [ 2.04277378e-01 9.78793205e-01 -1.53171696e-02 4.51284315e+00] [ 8.44443498e-02 -2.03070714e-03 9.96426128e-01 1.71161921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:4.52, Z:1.71 [[ 9.79743094e-01 -1.82214743e-01 -8.30738068e-02 2.03872491e+01] [ 1.81572328e-01 9.83258753e-01 -1.52876986e-02 4.51769461e+00] [ 8.44686918e-02 -1.05887288e-04 9.96426128e-01 1.70508395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105681 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:4.52, Z:1.71 [[ 9.83240465e-01 -1.62285708e-01 -8.30754860e-02 2.04479171e+01] [ 1.61572818e-01 9.86742514e-01 -1.52785682e-02 4.52466799e+00] [ 8.44536072e-02 1.59976606e-03 9.96426128e-01 1.70873416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105681 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:4.52, Z:1.71 [[ 9.84290190e-01 -1.55790050e-01 -8.30799730e-02 2.05115869e+01] [ 1.55056114e-01 9.87787889e-01 -1.52541303e-02 4.52381917e+00] [ 8.44418328e-02 2.13243306e-03 9.96426129e-01 1.70791851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:4.53, Z:1.71 [[ 9.81767876e-01 -1.70965638e-01 -8.30818148e-02 2.05752499e+01] [ 1.70286631e-01 9.85276652e-01 -1.52440921e-02 4.52768142e+00] [ 8.44647883e-02 8.18437534e-04 9.96426129e-01 1.71438572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:20.64, Y:4.52, Z:1.72 [[ 9.79107844e-01 -1.85591478e-01 -8.30881076e-02 2.06396880e+01] [ 1.84967803e-01 9.82626875e-01 -1.52097160e-02 4.52028931e+00] [ 8.44674012e-02 -4.76672517e-04 9.96426129e-01 1.71919696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105681 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:4.52, Z:1.73 [[ 9.77778343e-01 -1.92470958e-01 -8.30929727e-02 2.07019046e+01] [ 1.91874303e-01 9.81302056e-01 -1.51830910e-02 4.51936290e+00] [ 8.44616090e-02 -1.09770865e-03 9.96426130e-01 1.73219011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:4.51, Z:1.74 [[ 9.74959952e-01 -2.06272508e-01 -8.30947925e-02 2.07642242e+01] [ 2.05726569e-01 9.78491878e-01 -1.51731246e-02 4.51384623e+00] [ 8.44373781e-02 -2.30161781e-03 9.96426130e-01 1.74037979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105681 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:4.52, Z:1.75 [[ 9.72742026e-01 -2.16490382e-01 -8.30955260e-02 2.08262836e+01] [ 2.15981872e-01 9.76279534e-01 -1.51691067e-02 4.51621341e+00] [ 8.44084271e-02 -3.19149976e-03 9.96426130e-01 1.74798070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105681 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:4.51, Z:1.74 [[ 9.71043849e-01 -2.23982622e-01 -8.31001096e-02 2.08890332e+01] [ 2.23503546e-01 9.74585464e-01 -1.51439549e-02 4.51478983e+00] [ 8.43801416e-02 -3.86772494e-03 9.96426130e-01 1.74372904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters Centerline goodness : 0.998642 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:4.52, Z:1.74 [[ 9.72366144e-01 -2.18169123e-01 -8.31042462e-02 2.09496221e+01] [ 2.17670806e-01 9.75905102e-01 -1.51212208e-02 4.52484284e+00] [ 8.44008414e-02 -3.38600514e-03 9.96426130e-01 1.74369387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105681 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:21.01, Y:4.54, Z:1.76 [[ 9.76077659e-01 -2.00912731e-01 -8.31052221e-02 2.10072768e+01] [ 2.00352268e-01 9.79607309e-01 -1.51158555e-02 4.54300326e+00] [ 8.44474508e-02 -1.89607095e-03 9.96426130e-01 1.76051626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105681 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:4.57, Z:1.76 [[ 9.79483359e-01 -1.83591269e-01 -8.31059318e-02 2.10672295e+01] [ 1.82968702e-01 9.83002585e-01 -1.51119526e-02 4.56520319e+00] [ 8.44677684e-02 -4.03878415e-04 9.96426130e-01 1.76379569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:21.13, Y:4.58, Z:1.77 [[ 9.80657613e-01 -1.77209119e-01 -8.31118228e-02 2.11266302e+01] [ 1.76566401e-01 9.84173214e-01 -1.50794841e-02 4.58048505e+00] [ 8.44686519e-02 1.13055423e-04 9.96426131e-01 1.77063512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105681 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:21.19, Y:4.59, Z:1.78 [[ 9.80575358e-01 -1.77661653e-01 -8.31162049e-02 2.11879360e+01] [ 1.77022608e-01 9.84091629e-01 -1.50552920e-02 4.59052428e+00] [ 8.44687096e-02 4.94010718e-05 9.96426131e-01 1.77895747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:21.25, Y:4.60, Z:1.79 [[ 9.80031770e-01 -1.80633946e-01 -8.31210457e-02 2.12501407e+01] [ 1.80007835e-01 9.83550366e-01 -1.50285181e-02 4.59905676e+00] [ 8.44683955e-02 -2.34014292e-04 9.96426131e-01 1.78540329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105681 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:21.31, Y:4.61, Z:1.78 [[ 9.80054609e-01 -1.80507488e-01 -8.31264765e-02 2.13116774e+01] [ 1.79883476e-01 9.83573578e-01 -1.49984189e-02 4.60816640e+00] [ 8.44683328e-02 -2.53810037e-04 9.96426132e-01 1.78185787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105681 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:4.62, Z:1.79 [[ 9.79739381e-01 -1.82210210e-01 -8.31275177e-02 2.13731320e+01] [ 1.81592804e-01 9.83259515e-01 -1.49926462e-02 4.61788321e+00] [ 8.44677360e-02 -4.06473077e-04 9.96426132e-01 1.78765807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:4.63, Z:1.79 [[ 9.80953702e-01 -1.75554594e-01 -8.31289263e-02 2.14331715e+01] [ 1.74913966e-01 9.84469684e-01 -1.49848321e-02 4.63143079e+00] [ 8.44685639e-02 1.59016293e-04 9.96426132e-01 1.79463548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105681 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:4.64, Z:1.80 [[ 9.83553740e-01 -1.60345919e-01 -8.31337826e-02 2.14940394e+01] [ 1.59653212e-01 9.87059833e-01 -1.49578415e-02 4.63912947e+00] [ 8.44564464e-02 1.43926546e-03 9.96426132e-01 1.80329302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105681 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:4.64, Z:1.81 [[ 9.84725131e-01 -1.52984971e-01 -8.31385274e-02 2.15549871e+01] [ 1.52268289e-01 9.88226402e-01 -1.49314226e-02 4.64343493e+00] [ 8.44439710e-02 2.04398576e-03 9.96426133e-01 1.81159319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:4.64, Z:1.81 [[ 9.84797981e-01 -1.52512775e-01 -8.31431872e-02 2.16187672e+01] [ 1.51796607e-01 9.88299357e-01 -1.49054300e-02 4.63962717e+00] [ 8.44436269e-02 2.05798370e-03 9.96426133e-01 1.81362103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105681 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:4.64, Z:1.82 [[ 9.84036731e-01 -1.57348670e-01 -8.31451069e-02 2.16810986e+01] [ 1.56650617e-01 9.87541762e-01 -1.48947139e-02 4.63540864e+00] [ 8.44529288e-02 1.63221332e-03 9.96426133e-01 1.82072575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105681 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:4.62, Z:1.82 [[ 9.83848388e-01 -1.58521444e-01 -8.31462629e-02 2.17470759e+01] [ 1.57828113e-01 9.87354357e-01 -1.48882580e-02 4.61961259e+00] [ 8.44549331e-02 1.52497082e-03 9.96426133e-01 1.82228080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:4.62, Z:1.83 [[ 9.83775633e-01 -1.58971582e-01 -8.31476950e-02 2.18099500e+01] [ 1.58280532e-01 9.87282052e-01 -1.48802560e-02 4.61529875e+00] [ 8.44557648e-02 1.47817181e-03 9.96426133e-01 1.82722179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105681 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:4.62, Z:1.83 [[ 9.83197164e-01 -1.62510365e-01 -8.31487706e-02 2.18722606e+01] [ 1.61832445e-01 9.86706145e-01 -1.48742428e-02 4.61516637e+00] [ 8.44606216e-02 1.16814452e-03 9.96426133e-01 1.83427207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:4.62, Z:1.84 [[ 9.82769537e-01 -1.65076166e-01 -8.31498427e-02 2.19344263e+01] [ 1.64407915e-01 9.86280372e-01 -1.48682473e-02 4.61737961e+00] [ 8.44634511e-02 9.41568240e-04 9.96426133e-01 1.84127518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:4.62, Z:1.85 [[ 9.81390400e-01 -1.73085973e-01 -8.31512456e-02 2.19969680e+01] [ 1.72447042e-01 9.84906689e-01 -1.48603975e-02 4.61882153e+00] [ 8.44683443e-02 2.44665042e-04 9.96426133e-01 1.84563585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:22.06, Y:4.62, Z:1.85 [[ 9.79269238e-01 -1.84708956e-01 -8.31526320e-02 2.20606645e+01] [ 1.84112418e-01 9.82792967e-01 -1.48526355e-02 4.61762807e+00] [ 8.44652368e-02 -7.64703129e-04 9.96426133e-01 1.84814964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:4.62, Z:1.86 [[ 9.77509507e-01 -1.93805501e-01 -8.31540259e-02 2.21217336e+01] [ 1.93242414e-01 9.81038735e-01 -1.48448275e-02 4.61884568e+00] [ 8.44543297e-02 -1.55792470e-03 9.96426133e-01 1.86014771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:22.18, Y:4.63, Z:1.86 [[ 9.77443761e-01 -1.94136512e-01 -8.31547271e-02 2.21813066e+01] [ 1.93574954e-01 9.80973234e-01 -1.48408986e-02 4.62760769e+00] [ 8.44537219e-02 -1.59052874e-03 9.96426133e-01 1.85659885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:4.64, Z:1.86 [[ 9.76626020e-01 -1.98209253e-01 -8.31547271e-02 2.22395302e+01] [ 1.97662413e-01 9.80157803e-01 -1.48408986e-02 4.64132225e+00] [ 8.44463581e-02 -1.94255630e-03 9.96426133e-01 1.85825033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:4.66, Z:1.87 [[ 9.75050962e-01 -2.05817944e-01 -8.31540423e-02 2.22984845e+01] [ 2.05298331e-01 9.78586853e-01 -1.48447348e-02 4.65850039e+00] [ 8.44287654e-02 -2.59701312e-03 9.96426133e-01 1.86819530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:4.68, Z:1.87 [[ 9.75518562e-01 -2.03589843e-01 -8.31547431e-02 2.23557492e+01] [ 2.03062487e-01 9.79053306e-01 -1.48408081e-02 4.68288027e+00] [ 8.44343640e-02 -2.40812520e-03 9.96426133e-01 1.87059432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105681 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:22.41, Y:4.71, Z:1.88 [[ 9.77675813e-01 -1.92964340e-01 -8.31550850e-02 2.24120302e+01] [ 1.92398721e-01 9.81204637e-01 -1.48388925e-02 4.71243798e+00] [ 8.44555320e-02 -1.49130572e-03 9.96426133e-01 1.88160951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:4.73, Z:1.89 [[ 9.80015893e-01 -1.80704110e-01 -8.31557211e-02 2.24711813e+01] [ 1.80094640e-01 9.83537408e-01 -1.48353266e-02 4.73346145e+00] [ 8.44675669e-02 -4.37043860e-04 9.96426133e-01 1.88626095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105681 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:4.75, Z:1.89 [[ 9.82087339e-01 -1.69083666e-01 -8.31575190e-02 2.25297480e+01] [ 1.68433383e-01 9.85601546e-01 -1.48252421e-02 4.75379415e+00] [ 8.44668856e-02 5.53180330e-04 9.96426133e-01 1.88910296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105681 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:4.77, Z:1.90 [[ 9.83790176e-01 -1.58875853e-01 -8.31586014e-02 2.25894993e+01] [ 1.58189624e-01 9.87297541e-01 -1.48191681e-02 4.76780015e+00] [ 8.44566907e-02 1.42412416e-03 9.96426133e-01 1.89745110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:4.78, Z:1.90 [[ 9.84762607e-01 -1.52732037e-01 -8.31596839e-02 2.26514235e+01] [ 1.52024441e-01 9.88265724e-01 -1.48130907e-02 4.77867169e+00] [ 8.44462988e-02 1.94507334e-03 9.96426133e-01 1.89820800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105681 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:4.78, Z:1.90 [[ 9.83957544e-01 -1.57834497e-01 -8.31614339e-02 2.27132724e+01] [ 1.57145900e-01 9.87464445e-01 -1.48032599e-02 4.78402597e+00] [ 8.44554242e-02 1.49730086e-03 9.96426133e-01 1.90018848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105681 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:4.79, Z:1.91 [[ 9.83162809e-01 -1.62710711e-01 -8.31631805e-02 2.27752718e+01] [ 1.62040339e-01 9.86673240e-01 -1.47934410e-02 4.78876110e+00] [ 8.44619361e-02 1.06857109e-03 9.96426133e-01 1.90726514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105681 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:4.79, Z:1.92 [[ 9.82095775e-01 -1.69031147e-01 -8.31646569e-02 2.28356020e+01] [ 1.68384071e-01 9.85610574e-01 -1.47851366e-02 4.79290382e+00] [ 8.44671138e-02 5.16816661e-04 9.96426134e-01 1.91676583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105681 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:4.79, Z:1.92 [[ 9.79832213e-01 -1.81692197e-01 -8.31671774e-02 2.28992034e+01] [ 1.81091742e-01 9.83355277e-01 -1.47709452e-02 4.79425328e+00] [ 8.44666482e-02 -5.87841085e-04 9.96426134e-01 1.92091786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:4.80, Z:1.92 [[ 9.78582913e-01 -1.88303872e-01 -8.31693127e-02 2.29611419e+01] [ 1.87728241e-01 9.82110117e-01 -1.47589125e-02 4.79632938e+00] [ 8.44605838e-02 -1.17040924e-03 9.96426134e-01 1.92416099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:4.81, Z:1.94 [[ 9.79497364e-01 -1.83486799e-01 -8.31715618e-02 2.30212796e+01] [ 1.82894898e-01 9.83021874e-01 -1.47462268e-02 4.80654805e+00] [ 8.44652025e-02 -7.67764058e-04 9.96426134e-01 1.93603199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:23.08, Y:4.82, Z:1.94 [[ 9.81687381e-01 -1.71382870e-01 -8.31732955e-02 2.30816055e+01] [ 1.70748340e-01 9.85204467e-01 -1.47364419e-02 4.82021346e+00] [ 8.44682760e-02 2.64876940e-04 9.96426134e-01 1.93538410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:23.14, Y:4.83, Z:1.94 [[ 9.83358092e-01 -1.61520560e-01 -8.31743391e-02 2.31428274e+01] [ 1.60851258e-01 9.86868727e-01 -1.47305492e-02 4.83159706e+00] [ 8.44614407e-02 1.10670770e-03 9.96426134e-01 1.94192066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105681 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:23.20, Y:4.84, Z:1.95 [[ 9.83920388e-01 -1.58058461e-01 -8.31756799e-02 2.32031502e+01] [ 1.57377447e-01 9.87428769e-01 -1.47229745e-02 4.84320455e+00] [ 8.44571499e-02 1.39625864e-03 9.96426134e-01 1.95227369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:23.26, Y:4.85, Z:1.96 [[ 9.85034178e-01 -1.50961060e-01 -8.31770825e-02 2.32643156e+01] [ 1.50255440e-01 9.88537693e-01 -1.47150467e-02 4.85101989e+00] [ 8.44450802e-02 1.99701480e-03 9.96426134e-01 1.96128092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:4.86, Z:1.96 [[ 9.85638372e-01 -1.46963724e-01 -8.31785031e-02 2.33260950e+01] [ 1.46244574e-01 9.89139135e-01 -1.47070122e-02 4.85528819e+00] [ 8.44365098e-02 2.33139089e-03 9.96426134e-01 1.95683552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:4.86, Z:1.96 [[ 9.85462812e-01 -1.48135775e-01 -8.31795484e-02 2.33876587e+01] [ 1.47421288e-01 9.88964530e-01 -1.47010979e-02 4.86234295e+00] [ 8.44393815e-02 2.22494911e-03 9.96426134e-01 1.96452530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105681 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:4.87, Z:1.97 [[ 9.84772291e-01 -1.52657993e-01 -8.31809650e-02 2.34489719e+01] [ 1.51960265e-01 9.88277386e-01 -1.46930779e-02 4.86644236e+00] [ 8.44488824e-02 1.82913454e-03 9.96426134e-01 1.96658300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:4.87, Z:1.98 [[ 9.81984679e-01 -1.69666865e-01 -8.31820063e-02 2.35117906e+01] [ 1.69030361e-01 9.85501407e-01 -1.46871805e-02 4.86641962e+00] [ 8.44679121e-02 3.62301673e-04 9.96426134e-01 1.97795444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:4.87, Z:1.98 [[ 9.79562278e-01 -1.83134554e-01 -8.31834029e-02 2.35728614e+01] [ 1.82547070e-01 9.83087527e-01 -1.46792664e-02 4.87024652e+00] [ 8.44648468e-02 -8.05630825e-04 9.96426134e-01 1.98399798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:4.88, Z:1.99 [[ 9.77145727e-01 -1.95618456e-01 -8.31844193e-02 2.36352137e+01] [ 1.95076491e-01 9.80678261e-01 -1.46735045e-02 4.87767817e+00] [ 8.44475599e-02 -1.88917247e-03 9.96426134e-01 1.98578193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:4.89, Z:1.99 [[ 9.75299118e-01 -2.04625880e-01 -8.31858179e-02 2.36956096e+01] [ 2.04117207e-01 9.78836599e-01 -1.46655714e-02 4.88736953e+00] [ 8.44262785e-02 -2.67633800e-03 9.96426134e-01 1.99035763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105681 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:23.76, Y:4.90, Z:1.99 [[ 9.76110910e-01 -2.00717455e-01 -8.31865077e-02 2.37553050e+01] [ 2.00194950e-01 9.79646374e-01 -1.46616577e-02 4.90280854e+00] [ 8.44362112e-02 -2.34211466e-03 9.96426134e-01 1.99338795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:4.92, Z:2.01 [[ 9.78982064e-01 -1.86209432e-01 -8.31875336e-02 2.38120439e+01] [ 1.85635011e-01 9.82509465e-01 -1.46558341e-02 4.92359048e+00] [ 8.44615937e-02 -1.09472000e-03 9.96426134e-01 2.00944248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:4.94, Z:2.01 [[ 9.81687827e-01 -1.71373243e-01 -8.31878760e-02 2.38719018e+01] [ 1.70745673e-01 9.85206161e-01 -1.46538905e-02 4.93967605e+00] [ 8.44684927e-02 1.81576064e-04 9.96426134e-01 2.01327928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:4.96, Z:2.01 [[ 9.83518280e-01 -1.60534519e-01 -8.31893102e-02 2.39313045e+01] [ 1.59868868e-01 9.87029608e-01 -1.46457444e-02 4.96010252e+00] [ 8.44614598e-02 1.10497652e-03 9.96426134e-01 2.00925474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:4.98, Z:2.01 [[ 9.84309336e-01 -1.55610057e-01 -8.31903874e-02 2.39913834e+01] [ 1.54927358e-01 9.87817390e-01 -1.46396228e-02 4.97611275e+00] [ 8.44549839e-02 1.52145043e-03 9.96426134e-01 2.01453487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:4.98, Z:2.02 [[ 9.84067013e-01 -1.57134282e-01 -8.31921326e-02 2.40512322e+01] [ 1.56457855e-01 9.87576281e-01 -1.46296990e-02 4.98277404e+00] [ 8.44574042e-02 1.38054153e-03 9.96426134e-01 2.01567023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:4.99, Z:2.03 [[ 9.81434089e-01 -1.72818038e-01 -8.31928734e-02 2.41106823e+01] [ 1.72198056e-01 9.84953768e-01 -1.46254849e-02 4.99295563e+00] [ 8.44686818e-02 2.82984358e-05 9.96426134e-01 2.02963033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:5.00, Z:2.03 [[ 9.78461793e-01 -1.88921509e-01 -8.31936483e-02 2.41729519e+01] [ 1.88359820e-01 9.81991244e-01 -1.46210760e-02 4.99623632e+00] [ 8.44576699e-02 -1.36417642e-03 9.96426134e-01 2.03013955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:5.01, Z:2.04 [[ 9.80401381e-01 -1.78582523e-01 -8.31950413e-02 2.42336742e+01] [ 1.77984282e-01 9.83924820e-01 -1.46131452e-02 5.00888649e+00] [ 8.44673184e-02 -4.80661891e-04 9.96426134e-01 2.03767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105681 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:5.02, Z:2.04 [[ 9.83302917e-01 -1.61844753e-01 -8.31964513e-02 2.42933729e+01] [ 1.61187218e-01 9.86815774e-01 -1.46051136e-02 5.02420781e+00] [ 8.44633315e-02 9.51046298e-04 9.96426134e-01 2.04243849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:5.03, Z:2.04 [[ 9.82981670e-01 -1.63784043e-01 -8.31974956e-02 2.43554972e+01] [ 1.63133942e-01 9.86495911e-01 -1.45991624e-02 5.02971940e+00] [ 8.44650990e-02 7.78373690e-04 9.96426134e-01 2.04056459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:5.04, Z:2.04 [[ 9.82552072e-01 -1.66341131e-01 -8.31988788e-02 2.44165975e+01] [ 1.65700844e-01 9.86068114e-01 -1.45912755e-02 5.04029910e+00] [ 8.44668907e-02 5.50563474e-04 9.96426134e-01 2.04221468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:5.05, Z:2.05 [[ 9.80764415e-01 -1.76575419e-01 -8.32002570e-02 2.44763765e+01] [ 1.75972489e-01 9.84287055e-01 -1.45834124e-02 5.04590229e+00] [ 8.44680081e-02 -3.38064423e-04 9.96426134e-01 2.05175210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:24.54, Y:5.06, Z:2.06 [[ 9.78946911e-01 -1.86388319e-01 -8.32006002e-02 2.45368827e+01] [ 1.85820862e-01 9.82475439e-01 -1.45814545e-02 5.05750346e+00] [ 8.44603590e-02 -1.18593742e-03 9.96426134e-01 2.06349456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:5.07, Z:2.07 [[ 9.78238139e-01 -1.90072554e-01 -8.32019718e-02 2.45969702e+01] [ 1.89519052e-01 9.81768882e-01 -1.45736237e-02 5.07065780e+00] [ 8.44551527e-02 -1.51188426e-03 9.96426134e-01 2.06716979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:5.09, Z:2.08 [[ 9.77060662e-01 -1.96034983e-01 -8.32030579e-02 2.46542156e+01] [ 1.95503552e-01 9.80594795e-01 -1.45674202e-02 5.08718885e+00] [ 8.44442095e-02 -2.03324021e-03 9.96426134e-01 2.07646930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:5.10, Z:2.08 [[ 9.78140418e-01 -1.90574324e-01 -8.32030579e-02 2.47147944e+01] [ 1.90023161e-01 9.81671528e-01 -1.45674202e-02 5.10142205e+00] [ 8.44542493e-02 -1.56152562e-03 9.96426134e-01 2.07794285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737105681 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:24.77, Y:5.13, Z:2.09 [[ 9.79047639e-01 -1.85856749e-01 -8.32044987e-02 2.47718805e+01] [ 1.85289269e-01 9.82576163e-01 -1.45591864e-02 5.12567037e+00] [ 8.44606802e-02 -1.16276363e-03 9.96426134e-01 2.08846374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:5.14, Z:2.08 [[ 9.80138733e-01 -1.80013613e-01 -8.32055513e-02 2.48327281e+01] [ 1.79425607e-01 9.83663894e-01 -1.45531683e-02 5.13954946e+00] [ 8.44660650e-02 -6.65082671e-04 9.96426135e-01 2.08446334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105681 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:24.89, Y:5.16, Z:2.08 [[ 9.81696592e-01 -1.71313783e-01 -8.32069057e-02 2.48921349e+01] [ 1.70695193e-01 9.85216515e-01 -1.45454203e-02 5.16074650e+00] [ 8.44686487e-02 7.61707034e-05 9.96426135e-01 2.08350799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105681 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:24.95, Y:5.18, Z:2.09 [[ 9.83736013e-01 -1.59184924e-01 -8.32082766e-02 2.49526101e+01] [ 1.58523603e-01 9.87248158e-01 -1.45375737e-02 5.17835883e+00] [ 8.44613804e-02 1.11065905e-03 9.96426135e-01 2.08603764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:5.19, Z:2.09 [[ 9.84307994e-01 -1.55607885e-01 -8.32103292e-02 2.50131365e+01] [ 1.54934794e-01 9.87817903e-01 -1.45258156e-02 5.19180916e+00] [ 8.44569844e-02 1.40570119e-03 9.96426135e-01 2.09196799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105681 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:5.20, Z:2.11 [[ 9.82824267e-01 -1.64718608e-01 -8.32120177e-02 2.50733423e+01] [ 1.64078877e-01 9.86340410e-01 -1.45161363e-02 5.19806972e+00] [ 8.44664534e-02 6.13476641e-04 9.96426135e-01 2.10543618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105681 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:5.20, Z:2.11 [[ 9.80091392e-01 -1.80267751e-01 -8.32129922e-02 2.51350841e+01] [ 1.79684277e-01 9.83617306e-01 -1.45105484e-02 5.20314334e+00] [ 8.44655231e-02 -7.30402819e-04 9.96426135e-01 2.11418391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:5.20, Z:2.12 [[ 9.75102227e-01 -2.05550563e-01 -8.32142619e-02 2.51979392e+01] [ 2.05059078e-01 9.78642136e-01 -1.45032634e-02 5.19933589e+00] [ 8.44181369e-02 -2.92167536e-03 9.96426135e-01 2.12261955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105681 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:5.21, Z:2.13 [[ 9.73399222e-01 -2.13469231e-01 -8.32156385e-02 2.52586186e+01] [ 2.13007208e-01 9.76943096e-01 -1.44953606e-02 5.20794336e+00] [ 8.43912570e-02 -3.61575811e-03 9.96426135e-01 2.12815932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:5.22, Z:2.13 [[ 9.75180906e-01 -2.05176003e-01 -8.32166386e-02 2.53206466e+01] [ 2.04684321e-01 9.78720787e-01 -1.44896166e-02 5.21699476e+00] [ 8.44187757e-02 -2.90314377e-03 9.96426135e-01 2.12898807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:5.23, Z:2.14 [[ 9.78224291e-01 -1.90136818e-01 -8.32179463e-02 2.53806990e+01] [ 1.89591330e-01 9.81756281e-01 -1.44821021e-02 5.23266925e+00] [ 8.44533223e-02 -1.61065704e-03 9.96426135e-01 2.14002796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105681 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:5.24, Z:2.14 [[ 9.80206506e-01 -1.79637843e-01 -8.32192927e-02 2.54422520e+01] [ 1.79055175e-01 9.83732554e-01 -1.44743614e-02 5.24475797e+00] [ 8.44656703e-02 -7.12981782e-04 9.96426135e-01 2.14051321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:25.50, Y:5.26, Z:2.14 [[ 9.84108988e-01 -1.56855888e-01 -8.32209762e-02 2.55010647e+01] [ 1.56192417e-01 9.87620728e-01 -1.44646751e-02 5.26341457e+00] [ 8.44596306e-02 1.23633132e-03 9.96426135e-01 2.14345478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:5.28, Z:2.15 [[ 9.86473351e-01 -1.41224740e-01 -8.32219897e-02 2.55624155e+01] [ 1.40506136e-01 9.89974226e-01 -1.44588419e-02 5.27652143e+00] [ 8.44295710e-02 2.57006196e-03 9.96426135e-01 2.14717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105681 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:5.29, Z:2.15 [[ 9.86879976e-01 -1.38353415e-01 -8.32240681e-02 2.56246313e+01] [ 1.37625635e-01 9.90378954e-01 -1.44468691e-02 5.28563871e+00] [ 8.44221392e-02 2.80356058e-03 9.96426135e-01 2.14811469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:5.29, Z:2.15 [[ 9.86116517e-01 -1.43692956e-01 -8.32258993e-02 2.56877281e+01] [ 1.42985015e-01 9.89619562e-01 -1.44363118e-02 5.28878504e+00] [ 8.44363744e-02 2.33582900e-03 9.96426135e-01 2.14990829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:5.29, Z:2.16 [[ 9.84864038e-01 -1.52039615e-01 -8.32272940e-02 2.57493992e+01] [ 1.51362048e-01 9.88373085e-01 -1.44282669e-02 5.29493381e+00] [ 8.44532855e-02 1.61242751e-03 9.96426135e-01 2.15899638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:5.30, Z:2.16 [[ 9.83942881e-01 -1.57890435e-01 -8.32287034e-02 2.58117843e+01] [ 1.57234424e-01 9.87456022e-01 -1.44201321e-02 5.29971461e+00] [ 8.44614853e-02 1.10216909e-03 9.96426135e-01 2.16295994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:25.87, Y:5.31, Z:2.17 [[ 9.83510661e-01 -1.60560089e-01 -8.32300246e-02 2.58733993e+01] [ 1.59914260e-01 9.87025688e-01 -1.44125025e-02 5.30520666e+00] [ 8.44642450e-02 8.65182083e-04 9.96426135e-01 2.16614007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105681 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:5.31, Z:2.18 [[ 9.82618725e-01 -1.65930881e-01 -8.32309045e-02 2.59320354e+01] [ 1.65304696e-01 9.86137305e-01 -1.44074195e-02 5.31336540e+00] [ 8.44677356e-02 3.98540850e-04 9.96426135e-01 2.17590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:5.32, Z:2.18 [[ 9.82989107e-01 -1.63722495e-01 -8.32307695e-02 2.59946715e+01] [ 1.63088339e-01 9.86506258e-01 -1.44081994e-02 5.31917538e+00] [ 8.44666213e-02 5.89135141e-04 9.96426135e-01 2.17559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:5.32, Z:2.18 [[ 9.83554423e-01 -1.60290346e-01 -8.32328169e-02 2.60555547e+01] [ 1.59644918e-01 9.87069524e-01 -1.43963624e-02 5.32258735e+00] [ 8.44641748e-02 8.71909644e-04 9.96426135e-01 2.18443080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105681 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:26.12, Y:5.33, Z:2.20 [[ 9.83744871e-01 -1.59116971e-01 -8.32335174e-02 2.61157094e+01] [ 1.58467694e-01 9.87259263e-01 -1.43923109e-02 5.33225486e+00] [ 8.44631220e-02 9.68538464e-04 9.96426135e-01 2.19715646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:5.34, Z:2.20 [[ 9.85541998e-01 -1.47576851e-01 -8.32348696e-02 2.61762385e+01] [ 1.46887091e-01 9.89048669e-01 -1.43844867e-02 5.33901764e+00] [ 8.44461542e-02 1.95038795e-03 9.96426135e-01 2.19992283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:5.35, Z:2.20 [[ 9.85305287e-01 -1.49148516e-01 -8.32358787e-02 2.62373648e+01] [ 1.48464843e-01 9.88813150e-01 -1.43786453e-02 5.34696677e+00] [ 8.44492850e-02 1.80975359e-03 9.96426135e-01 2.20116364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:5.35, Z:2.21 [[ 9.84895997e-01 -1.51827368e-01 -8.32365632e-02 2.62996803e+01] [ 1.51153572e-01 9.88405770e-01 -1.43746818e-02 5.34956797e+00] [ 8.44539694e-02 1.57606275e-03 9.96426135e-01 2.20722132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:5.35, Z:2.21 [[ 9.84629286e-01 -1.53546794e-01 -8.32379146e-02 2.63617236e+01] [ 1.52879788e-01 9.88140356e-01 -1.43668520e-02 5.35136649e+00] [ 8.44567266e-02 1.42062847e-03 9.96426135e-01 2.21264222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:5.35, Z:2.21 [[ 9.84597414e-01 -1.53750669e-01 -8.32385981e-02 2.64225931e+01] [ 1.53084725e-01 9.88108685e-01 -1.43628906e-02 5.35401067e+00] [ 8.44570858e-02 1.39910700e-03 9.96426135e-01 2.21211217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:5.36, Z:2.22 [[ 9.84578102e-01 -1.53874291e-01 -8.32385981e-02 2.64824270e+01] [ 1.53208788e-01 9.88089457e-01 -1.43628906e-02 5.35543026e+00] [ 8.44572608e-02 1.38850283e-03 9.96426135e-01 2.21630162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:5.36, Z:2.22 [[ 9.82700313e-01 -1.65443481e-01 -8.32379096e-02 2.65399201e+01] [ 1.64818984e-01 9.86219192e-01 -1.43668800e-02 5.35854019e+00] [ 8.44677306e-02 3.99149784e-04 9.96426135e-01 2.22168333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:5.36, Z:2.22 [[ 9.80260101e-01 -1.79337720e-01 -8.32353082e-02 2.65984045e+01] [ 1.78761819e-01 9.83787260e-01 -1.43819353e-02 5.36304581e+00] [ 8.44650592e-02 -7.81257741e-04 9.96426135e-01 2.22436612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:5.37, Z:2.23 [[ 9.76903579e-01 -1.96804594e-01 -8.32306962e-02 2.66563574e+01] [ 1.96289469e-01 9.80440124e-01 -1.44085766e-02 5.36940333e+00] [ 8.44383882e-02 -2.26151916e-03 9.96426136e-01 2.22866935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:5.38, Z:2.24 [[ 9.72576774e-01 -2.17181630e-01 -8.32259516e-02 2.67134240e+01] [ 2.16738206e-01 9.76123022e-01 -1.44359304e-02 5.38324167e+00] [ 8.43739863e-02 -3.99819280e-03 9.96426136e-01 2.23803147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:5.40, Z:2.25 [[ 9.73053772e-01 -2.15036312e-01 -8.32210351e-02 2.67691390e+01] [ 2.14582654e-01 9.76598726e-01 -1.44642181e-02 5.39997487e+00] [ 8.43838889e-02 -3.78332855e-03 9.96426137e-01 2.24957554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:5.43, Z:2.27 [[ 9.75710623e-01 -2.02641966e-01 -8.32166632e-02 2.68249146e+01] [ 2.02141115e-01 9.79249217e-01 -1.44893276e-02 5.42609934e+00] [ 8.44259981e-02 -2.68411821e-03 9.96426137e-01 2.26613255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:5.45, Z:2.26 [[ 9.77103456e-01 -1.95815789e-01 -8.32166632e-02 2.68834310e+01] [ 1.95290212e-01 9.80638462e-01 -1.44893276e-02 5.44927286e+00] [ 8.44426997e-02 -2.09382772e-03 9.96426137e-01 2.26356623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:5.47, Z:2.26 [[ 9.80117088e-01 -1.80125980e-01 -8.32173319e-02 2.69433308e+01] [ 1.79544124e-01 9.83643268e-01 -1.44854855e-02 5.47059562e+00] [ 8.44653806e-02 -7.43711054e-04 9.96426137e-01 2.25857621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999998 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:5.49, Z:2.26 [[ 9.81552628e-01 -1.72131020e-01 -8.32186955e-02 2.70020997e+01] [ 1.71521106e-01 9.85074062e-01 -1.44776477e-02 5.49082665e+00] [ 8.44686307e-02 -6.31895106e-05 9.96426137e-01 2.26271434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:5.51, Z:2.27 [[ 9.83913919e-01 -1.58075546e-01 -8.32197197e-02 2.70616656e+01] [ 1.57415830e-01 9.87426364e-01 -1.44717583e-02 5.50721072e+00] [ 8.44609763e-02 1.13886316e-03 9.96426137e-01 2.26526526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:5.52, Z:2.27 [[ 9.84754854e-01 -1.52748801e-01 -8.32206737e-02 2.71232685e+01] [ 1.52070551e-01 9.88263768e-01 -1.44662698e-02 5.51768899e+00] [ 8.44536819e-02 1.59031569e-03 9.96426137e-01 2.26955308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:5.52, Z:2.27 [[ 9.84458294e-01 -1.54647892e-01 -8.32219742e-02 2.71840211e+01] [ 1.53977043e-01 9.87968630e-01 -1.44587846e-02 5.52429026e+00] [ 8.44567204e-02 1.41979694e-03 9.96426137e-01 2.27134565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:5.52, Z:2.28 [[ 9.82467848e-01 -1.66826032e-01 -8.32226149e-02 2.72470485e+01] [ 1.66199013e-01 9.85986277e-01 -1.44550959e-02 5.52167732e+00] [ 8.44678425e-02 3.70150455e-04 9.96426137e-01 2.27935814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105681 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:5.52, Z:2.28 [[ 9.80239665e-01 -1.79454628e-01 -8.32240080e-02 2.73091735e+01] [ 1.78873618e-01 9.83765984e-01 -1.44470706e-02 5.52347889e+00] [ 8.44655418e-02 -7.24987761e-04 9.96426137e-01 2.28360910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:5.53, Z:2.29 [[ 9.78432253e-01 -1.89060628e-01 -8.32250246e-02 2.73705736e+01] [ 1.88514732e-01 9.81964178e-01 -1.44412123e-02 5.52540599e+00] [ 8.44542575e-02 -1.55939528e-03 9.96426137e-01 2.28698485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:5.53, Z:2.29 [[ 9.77738312e-01 -1.92616916e-01 -8.32257023e-02 2.74297133e+01] [ 1.92084198e-01 9.81272248e-01 -1.44373054e-02 5.52947099e+00] [ 8.44479412e-02 -1.87043567e-03 9.96426137e-01 2.29461086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:5.54, Z:2.30 [[ 9.78962752e-01 -1.86294039e-01 -8.32253591e-02 2.74860535e+01] [ 1.85738325e-01 9.82493146e-01 -1.44392836e-02 5.54467007e+00] [ 8.44582973e-02 -1.32261804e-03 9.96426137e-01 2.29894293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:5.56, Z:2.30 [[ 9.78983029e-01 -1.86189609e-01 -8.32205353e-02 2.75442592e+01] [ 1.85631160e-01 9.82512991e-01 -1.44670324e-02 5.55841822e+00] [ 8.44588681e-02 -1.28534533e-03 9.96426137e-01 2.29997762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:5.57, Z:2.31 [[ 9.78492093e-01 -1.88752968e-01 -8.32198314e-02 2.76022062e+01] [ 1.88203422e-01 9.82023452e-01 -1.44710800e-02 5.57380119e+00] [ 8.44552854e-02 -1.50241968e-03 9.96426138e-01 2.30998779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999998 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:27.66, Y:5.59, Z:2.32 [[ 9.77634230e-01 -1.93146880e-01 -8.32201600e-02 2.76614916e+01] [ 1.92613365e-01 9.81168046e-01 -1.44691904e-02 5.58786881e+00] [ 8.44476407e-02 -1.88373920e-03 9.96426138e-01 2.32158412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:27.72, Y:5.61, Z:2.33 [[ 9.77075575e-01 -1.95952935e-01 -8.32211996e-02 2.77203212e+01] [ 1.95430076e-01 9.80610983e-01 -1.44632083e-02 5.60666045e+00] [ 8.44417305e-02 -2.13227781e-03 9.96426138e-01 2.32952457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:5.62, Z:2.33 [[ 9.77144015e-01 -1.95611066e-01 -8.32218979e-02 2.77811264e+01] [ 1.95087313e-01 9.80679291e-01 -1.44591895e-02 5.62213603e+00] [ 8.44423693e-02 -2.10682600e-03 9.96426138e-01 2.33122302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:27.84, Y:5.64, Z:2.34 [[ 9.75421726e-01 -2.04025356e-01 -8.32232597e-02 2.78405138e+01] [ 2.03532759e-01 9.78961478e-01 -1.44513470e-02 5.64254587e+00] [ 8.44208065e-02 -2.84250188e-03 9.96426138e-01 2.33852388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105681 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:5.66, Z:2.34 [[ 9.76477375e-01 -1.98911022e-01 -8.32246396e-02 2.79000752e+01] [ 1.98400560e-01 9.80014595e-01 -1.44433958e-02 5.66044543e+00] [ 8.44343121e-02 -2.40816592e-03 9.96426138e-01 2.34059895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:5.69, Z:2.35 [[ 9.80151016e-01 -1.79937292e-01 -8.32259416e-02 2.79595692e+01] [ 1.79358968e-01 9.83677775e-01 -1.44358895e-02 5.68608590e+00] [ 8.44650639e-02 -7.77967201e-04 9.96426138e-01 2.34619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:5.71, Z:2.34 [[ 9.83337308e-01 -1.61619441e-01 -8.32279700e-02 2.80196319e+01] [ 1.60976410e-01 9.86852845e-01 -1.44241855e-02 5.70523359e+00] [ 8.44649878e-02 7.86099890e-04 9.96426138e-01 2.33689060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105681 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:5.72, Z:2.34 [[ 9.83993618e-01 -1.57573593e-01 -8.32293399e-02 2.80806065e+01] [ 1.56916777e-01 9.87506606e-01 -1.44162770e-02 5.71634573e+00] [ 8.44611475e-02 1.12544480e-03 9.96426138e-01 2.33931660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:5.73, Z:2.35 [[ 9.83807145e-01 -1.58732947e-01 -8.32307164e-02 2.81409236e+01] [ 1.58080943e-01 9.87321030e-01 -1.44083252e-02 5.72732167e+00] [ 8.44625126e-02 1.01782314e-03 9.96426138e-01 2.34905438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105681 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:28.20, Y:5.72, Z:2.36 [[ 9.82096356e-01 -1.68994597e-01 -8.32320512e-02 2.82039779e+01] [ 1.68379966e-01 9.85616969e-01 -1.44006106e-02 5.72382471e+00] [ 8.44685474e-02 1.28177293e-04 9.96426138e-01 2.35518921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105681 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:28.26, Y:5.73, Z:2.37 [[ 9.81435757e-01 -1.72789061e-01 -8.32333829e-02 2.82632000e+01] [ 1.72188694e-01 9.84958830e-01 -1.43929095e-02 5.73056863e+00] [ 8.44683928e-02 -2.06131494e-04 9.96426138e-01 2.37227660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105681 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:5.73, Z:2.38 [[ 9.81506774e-01 -1.72384882e-01 -8.32340388e-02 2.83256272e+01] [ 1.71783386e-01 9.85029655e-01 -1.43891153e-02 5.73335154e+00] [ 8.44684625e-02 -1.75210893e-04 9.96426138e-01 2.37601589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337105681 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:5.74, Z:2.38 [[ 9.80339228e-01 -1.78904672e-01 -8.32353061e-02 2.83881246e+01] [ 1.78327227e-01 9.83866131e-01 -1.43817806e-02 5.73867729e+00] [ 8.44653664e-02 -7.44097603e-04 9.96426138e-01 2.37958104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105681 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:5.74, Z:2.39 [[ 9.79673709e-01 -1.82513290e-01 -8.32365492e-02 2.84501198e+01] [ 1.81949447e-01 9.83202812e-01 -1.43745823e-02 5.74171205e+00] [ 8.44619616e-02 -1.06244372e-03 9.96426138e-01 2.39085747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999998 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:5.75, Z:2.40 [[ 9.79631829e-01 -1.82737320e-01 -8.32379220e-02 2.85120791e+01] [ 1.82174960e-01 9.83161169e-01 -1.43666287e-02 5.74511579e+00] [ 8.44616119e-02 -1.08985839e-03 9.96426138e-01 2.39869856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:5.75, Z:2.40 [[ 9.82175419e-01 -1.68530915e-01 -8.32392817e-02 2.85730657e+01] [ 1.67918169e-01 9.85696360e-01 -1.43587466e-02 5.75437799e+00] [ 8.44685497e-02 1.25420188e-04 9.96426138e-01 2.39627027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105681 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:5.76, Z:2.39 [[ 9.84731668e-01 -1.52887527e-01 -8.32402901e-02 2.86343290e+01] [ 1.52219350e-01 9.88242513e-01 -1.43528985e-02 5.75858615e+00] [ 8.44559726e-02 1.46297083e-03 9.96426138e-01 2.39126345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999998 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:5.77, Z:2.40 [[ 9.83373454e-01 -1.61392666e-01 -8.32409537e-02 2.86938973e+01] [ 1.60755183e-01 9.86890002e-01 -1.43490486e-02 5.76599456e+00] [ 8.44654962e-02 7.29058683e-04 9.96426138e-01 2.39649891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:5.77, Z:2.40 [[ 9.81904360e-01 -1.70102239e-01 -8.32409537e-02 2.87546576e+01] [ 1.69495949e-01 9.85426419e-01 -1.43490486e-02 5.77205631e+00] [ 8.44686402e-02 -1.96111118e-05 9.96426138e-01 2.40261648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105681 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:5.77, Z:2.41 [[ 9.81032174e-01 -1.75062008e-01 -8.32416180e-02 2.88154405e+01] [ 1.74473851e-01 9.84557307e-01 -1.43451939e-02 5.77235411e+00] [ 8.44674417e-02 -4.50388882e-04 9.96426138e-01 2.40944975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:5.78, Z:2.42 [[ 9.79529926e-01 -1.83281090e-01 -8.32416180e-02 2.88750381e+01] [ 1.82722509e-01 9.83059866e-01 -1.43451939e-02 5.78141106e+00] [ 8.44606966e-02 -1.15857059e-03 9.96426138e-01 2.42294967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105681 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:5.79, Z:2.43 [[ 9.78074531e-01 -1.90895058e-01 -8.32423440e-02 2.89325454e+01] [ 1.90364312e-01 9.81608764e-01 -1.43409798e-02 5.78954230e+00] [ 8.44490366e-02 -1.81982445e-03 9.96426138e-01 2.43110228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:28.99, Y:5.80, Z:2.43 [[ 9.78341192e-01 -1.89524250e-01 -8.32410402e-02 2.89901544e+01] [ 1.88987908e-01 9.81874580e-01 -1.43485435e-02 5.80232408e+00] [ 8.44516583e-02 -1.69377890e-03 9.96426138e-01 2.43329801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:5.82, Z:2.44 [[ 9.80680426e-01 -1.77024361e-01 -8.32362726e-02 2.90484663e+01] [ 1.76440631e-01 9.84206294e-01 -1.43761474e-02 5.81585093e+00] [ 8.44665918e-02 -5.87854129e-04 9.96426138e-01 2.43503216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105681 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:5.83, Z:2.44 [[ 9.82949796e-01 -1.63955890e-01 -8.32355936e-02 2.91057907e+01] [ 1.63324950e-01 9.86467523e-01 -1.43800777e-02 5.82710873e+00] [ 8.44669083e-02 5.40445235e-04 9.96426138e-01 2.43528724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999998 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:5.84, Z:2.44 [[ 9.84905679e-01 -1.51765626e-01 -8.32345963e-02 2.91649769e+01] [ 1.51090667e-01 9.88415225e-01 -1.43858484e-02 5.83680998e+00] [ 8.44536195e-02 1.59273312e-03 9.96426138e-01 2.43939605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:5.84, Z:2.44 [[ 9.85082137e-01 -1.50616018e-01 -8.32345963e-02 2.92250731e+01] [ 1.49936962e-01 9.88590893e-01 -1.43858484e-02 5.84163294e+00] [ 8.44517031e-02 1.69129972e-03 9.96426138e-01 2.44194402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:5.85, Z:2.45 [[ 9.83086354e-01 -1.63135768e-01 -8.32342539e-02 2.92820065e+01] [ 1.62501238e-01 9.86603435e-01 -1.43878292e-02 5.84829540e+00] [ 8.44663703e-02 6.18809292e-04 9.96426138e-01 2.44664334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999998 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:5.85, Z:2.45 [[ 9.80389726e-01 -1.78629027e-01 -8.32325388e-02 2.93412260e+01] [ 1.78049235e-01 9.83916244e-01 -1.43977438e-02 5.85261806e+00] [ 8.44657019e-02 -7.04089752e-04 9.96426138e-01 2.45114283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:29.40, Y:5.86, Z:2.45 [[ 9.78117067e-01 -1.90681570e-01 -8.32318539e-02 2.93984873e+01] [ 1.90144888e-01 9.81650402e-01 -1.44017023e-02 5.86014852e+00] [ 8.44507221e-02 -1.73956068e-03 9.96426138e-01 2.45479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:29.45, Y:5.87, Z:2.47 [[ 9.75842026e-01 -2.02002680e-01 -8.32301517e-02 2.94546016e+01] [ 2.01506139e-01 9.79381225e-01 -1.44115329e-02 5.87368338e+00] [ 8.44252162e-02 -2.70800698e-03 9.96426139e-01 2.46637608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999998 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:29.51, Y:5.88, Z:2.48 [[ 9.74102430e-01 -2.10233223e-01 -8.32252855e-02 2.95106026e+01] [ 2.09764183e-01 9.77645378e-01 -1.44395800e-02 5.88338288e+00] [ 8.44004952e-02 -3.39205404e-03 9.96426139e-01 2.47638180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:29.57, Y:5.90, Z:2.48 [[ 9.72544455e-01 -2.17327209e-01 -8.32236031e-02 2.95670651e+01] [ 2.16883176e-01 9.76090624e-01 -1.44492705e-02 5.89859436e+00] [ 8.43739983e-02 -3.99724147e-03 9.96426139e-01 2.48251102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:29.63, Y:5.92, Z:2.48 [[ 9.71677205e-01 -2.21174149e-01 -8.32190175e-02 2.96251869e+01] [ 2.20741901e-01 9.75224830e-01 -1.44756327e-02 5.91780214e+00] [ 8.43588879e-02 -4.30428180e-03 9.96426139e-01 2.48245923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:5.94, Z:2.48 [[ 9.71839761e-01 -2.20458783e-01 -8.32190175e-02 2.96842522e+01] [ 2.20023924e-01 9.75387066e-01 -1.44756327e-02 5.93745143e+00] [ 8.43620337e-02 -4.24217936e-03 9.96426139e-01 2.48149320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105681 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:5.97, Z:2.49 [[ 9.74089212e-01 -2.10296681e-01 -8.32196703e-02 2.97410499e+01] [ 2.09825118e-01 9.77631825e-01 -1.44718788e-02 5.96520544e+00] [ 8.44015862e-02 -3.36467609e-03 9.96426139e-01 2.48992312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:5.99, Z:2.50 [[ 9.76324160e-01 -1.99662889e-01 -8.32217796e-02 2.97997444e+01] [ 1.99153759e-01 9.79861570e-01 -1.44597389e-02 5.98765291e+00] [ 8.44328969e-02 -2.45653782e-03 9.96426139e-01 2.49683010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:6.01, Z:2.50 [[ 9.79060018e-01 -1.85783189e-01 -8.32231261e-02 2.98597774e+01] [ 1.85224554e-01 9.82589947e-01 -1.44519852e-02 6.00929159e+00] [ 8.44591430e-02 -1.26560547e-03 9.96426139e-01 2.50018213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105681 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:6.03, Z:2.51 [[ 9.81174531e-01 -1.74270221e-01 -8.32251794e-02 2.99189403e+01] [ 1.73671165e-01 9.84697826e-01 -1.44401512e-02 6.02990328e+00] [ 8.44681415e-02 -2.85505327e-04 9.96426140e-01 2.50597135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999998 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:6.04, Z:2.52 [[ 9.82199235e-01 -1.68398163e-01 -8.32269261e-02 2.99776205e+01] [ 1.67778896e-01 9.85719034e-01 -1.44300769e-02 6.04241356e+00] [ 8.44683637e-02 2.09488677e-04 9.96426140e-01 2.52069443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:6.05, Z:2.52 [[ 9.83800567e-01 -1.58775152e-01 -8.32279777e-02 3.00407316e+01] [ 1.58121973e-01 9.87314230e-01 -1.44240091e-02 6.04920467e+00] [ 8.44623410e-02 1.03017632e-03 9.96426140e-01 2.52468456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077105681 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:6.06, Z:2.53 [[ 9.85158079e-01 -1.50121001e-01 -8.32300663e-02 3.01027376e+01] [ 1.49437978e-01 9.88666064e-01 -1.44119474e-02 6.05626136e+00] [ 8.44502780e-02 1.76031356e-03 9.96426140e-01 2.52917941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:6.05, Z:2.52 [[ 9.85226068e-01 -1.49673379e-01 -8.32314476e-02 3.01678643e+01] [ 1.48989437e-01 9.88733874e-01 -1.44039653e-02 6.05315858e+00] [ 8.44496418e-02 1.79055560e-03 9.96426140e-01 2.52181486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:6.05, Z:2.53 [[ 9.83487332e-01 -1.60701212e-01 -8.32333402e-02 3.02302697e+01] [ 1.60057536e-01 9.87002749e-01 -1.43930206e-02 6.04569283e+00] [ 8.44645115e-02 8.33230112e-04 9.96426140e-01 2.53074924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:6.04, Z:2.53 [[ 9.81893346e-01 -1.70168384e-01 -8.32356810e-02 3.02923913e+01] [ 1.69559752e-01 9.85414999e-01 -1.43794713e-02 6.04420590e+00] [ 8.44686199e-02 5.68571403e-06 9.96426140e-01 2.53348832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999997 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:6.04, Z:2.54 [[ 9.79713099e-01 -1.82301829e-01 -8.32363368e-02 3.03513703e+01] [ 1.81737131e-01 9.83242063e-01 -1.43756741e-02 6.04229755e+00] [ 8.44621792e-02 -1.04309684e-03 9.96426140e-01 2.54124908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:6.05, Z:2.55 [[ 9.77733933e-01 -1.92635111e-01 -8.32350362e-02 3.04097965e+01] [ 1.92107061e-01 9.81268567e-01 -1.43832007e-02 6.04533703e+00] [ 8.44466341e-02 -1.92709479e-03 9.96426140e-01 2.54828333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:6.05, Z:2.55 [[ 9.78400290e-01 -1.89223488e-01 -8.32306687e-02 3.04703231e+01] [ 1.88680968e-01 9.81932732e-01 -1.44084295e-02 6.05096943e+00] [ 8.44533312e-02 -1.60683149e-03 9.96426140e-01 2.55351461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:6.06, Z:2.56 [[ 9.80521275e-01 -1.77906393e-01 -8.32306687e-02 3.05284994e+01] [ 1.77323095e-01 9.84047213e-01 -1.44084295e-02 6.06155746e+00] [ 8.44662593e-02 -6.30948076e-04 9.96426140e-01 2.55790355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:6.07, Z:2.56 [[ 9.82684847e-01 -1.65539127e-01 -8.32303384e-02 3.05875678e+01] [ 1.64911291e-01 9.86203127e-01 -1.44103373e-02 6.07164118e+00] [ 8.44674947e-02 4.35197485e-04 9.96426140e-01 2.56284269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999998 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:6.08, Z:2.57 [[ 9.83842181e-01 -1.58515844e-01 -8.32303384e-02 3.06455786e+01] [ 1.57862894e-01 9.87355888e-01 -1.44103373e-02 6.08096038e+00] [ 8.44622314e-02 1.03851553e-03 9.96426140e-01 2.56548535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:6.09, Z:2.57 [[ 9.84667536e-01 -1.53305971e-01 -8.32293453e-02 3.07051031e+01] [ 1.52633947e-01 9.88177643e-01 -1.44160711e-02 6.09102305e+00] [ 8.44554481e-02 1.49141376e-03 9.96426140e-01 2.56918407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:6.10, Z:2.58 [[ 9.85200242e-01 -1.49844452e-01 -8.32293453e-02 3.07640327e+01] [ 1.49160097e-01 9.88707966e-01 -1.44160711e-02 6.10118361e+00] [ 8.44496850e-02 1.78821955e-03 9.96426140e-01 2.57848262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999998 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:6.10, Z:2.59 [[ 9.83026412e-01 -1.63499079e-01 -8.32293453e-02 3.08237060e+01] [ 1.62863457e-01 9.86543294e-01 -1.44160711e-02 6.10482996e+00] [ 8.44663668e-02 6.16359827e-04 9.96426140e-01 2.58862847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:6.11, Z:2.59 [[ 9.80176389e-01 -1.79797769e-01 -8.32286595e-02 3.08826757e+01] [ 1.79220289e-01 9.83703284e-01 -1.44200290e-02 6.10757247e+00] [ 8.44649947e-02 -7.82092490e-04 9.96426140e-01 2.58842872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:6.11, Z:2.59 [[ 9.77990670e-01 -1.91332258e-01 -8.32238983e-02 3.09406197e+01] [ 1.90794034e-01 9.81523768e-01 -1.44474559e-02 6.11184522e+00] [ 8.44504987e-02 -1.74914624e-03 9.96426141e-01 2.59238245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:6.12, Z:2.61 [[ 9.78938487e-01 -1.86424275e-01 -8.32191565e-02 3.09985193e+01] [ 1.85866019e-01 9.82468476e-01 -1.44747181e-02 6.11861868e+00] [ 8.44586367e-02 -1.29775470e-03 9.96426141e-01 2.60562895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:6.13, Z:2.61 [[ 9.80757988e-01 -1.76604492e-01 -8.32143121e-02 3.10562582e+01] [ 1.76008530e-01 9.84281806e-01 -1.45025153e-02 6.12975252e+00] [ 8.44675428e-02 -4.22971076e-04 9.96426141e-01 2.61147785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:6.14, Z:2.61 [[ 9.83359425e-01 -1.61494257e-01 -8.32096534e-02 3.11139732e+01] [ 1.60841893e-01 9.86873238e-01 -1.45291962e-02 6.14404833e+00] [ 8.44637618e-02 9.03823877e-04 9.96426142e-01 2.60777830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:6.16, Z:2.61 [[ 9.84061654e-01 -1.57161119e-01 -8.32048332e-02 3.11709216e+01] [ 1.56490954e-01 9.87572115e-01 -1.45567482e-02 6.15819786e+00] [ 8.44585279e-02 1.30393399e-03 9.96426142e-01 2.60657333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:6.17, Z:2.61 [[ 9.84308841e-01 -1.55608033e-01 -8.32000312e-02 3.12271057e+01] [ 1.54930014e-01 9.87817794e-01 -1.45841425e-02 6.16946510e+00] [ 8.44558810e-02 1.46511845e-03 9.96426143e-01 2.60917310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:6.18, Z:2.62 [[ 9.82852940e-01 -1.64555374e-01 -8.31963124e-02 3.12853258e+01] [ 1.63907509e-01 9.86367585e-01 -1.46053265e-02 6.17726509e+00] [ 8.44655307e-02 7.18387812e-04 9.96426143e-01 2.61585275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:6.18, Z:2.63 [[ 9.80067718e-01 -1.80406246e-01 -8.31916720e-02 3.13433364e+01] [ 1.79812985e-01 9.83591990e-01 -1.46317105e-02 6.18190326e+00] [ 8.44663142e-02 -6.18875752e-04 9.96426143e-01 2.62900421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:6.19, Z:2.64 [[ 9.76949854e-01 -1.96593190e-01 -8.31871372e-02 3.14019750e+01] [ 1.96056116e-01 9.80483125e-01 -1.46574477e-02 6.18704228e+00] [ 8.44451386e-02 -1.98975561e-03 9.96426143e-01 2.63508047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:6.20, Z:2.64 [[ 9.75509766e-01 -2.03620824e-01 -8.31820671e-02 3.14583621e+01] [ 2.03106752e-01 9.79046456e-01 -1.46861643e-02 6.19808295e+00] [ 8.44295170e-02 -2.56834276e-03 9.96426144e-01 2.63760158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:6.21, Z:2.65 [[ 9.74550818e-01 -2.08162744e-01 -8.31803710e-02 3.15157685e+01] [ 2.07664335e-01 9.78089750e-01 -1.46957647e-02 6.21006726e+00] [ 8.44169790e-02 -2.95182692e-03 9.96426144e-01 2.64609667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:6.23, Z:2.66 [[ 9.76205594e-01 -2.00261024e-01 -8.31754780e-02 3.15710278e+01] [ 1.99731608e-01 9.79740020e-01 -1.47234065e-02 6.23038439e+00] [ 8.44388689e-02 -2.23970015e-03 9.96426144e-01 2.66044146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999998 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:6.25, Z:2.67 [[ 9.77405729e-01 -1.94320175e-01 -8.31727772e-02 3.16275220e+01] [ 1.93767977e-01 9.80936666e-01 -1.47386478e-02 6.24950776e+00] [ 8.44512434e-02 -1.71058201e-03 9.96426144e-01 2.66654892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:6.27, Z:2.66 [[ 9.80559744e-01 -1.77721685e-01 -8.31720600e-02 3.16868238e+01] [ 1.77109361e-01 9.84080752e-01 -1.47426936e-02 6.26762186e+00] [ 8.44681198e-02 -2.74458528e-04 9.96426144e-01 2.65741975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:6.29, Z:2.66 [[ 9.83962124e-01 -1.57800340e-01 -8.31720600e-02 3.17441999e+01] [ 1.57116739e-01 9.87469991e-01 -1.47426936e-02 6.28762351e+00] [ 8.44563155e-02 1.43852927e-03 9.96426144e-01 2.65637773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999997 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:6.30, Z:2.66 [[ 9.84735902e-01 -1.52897584e-01 -8.31717083e-02 3.18028190e+01] [ 1.52196352e-01 9.88240287e-01 -1.47446776e-02 6.29687670e+00] [ 8.44480585e-02 1.86118283e-03 9.96426144e-01 2.66012180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:6.30, Z:2.66 [[ 9.83380976e-01 -1.61382907e-01 -8.31709936e-02 3.18630304e+01] [ 1.60711578e-01 9.86891212e-01 -1.47487079e-02 6.30456302e+00] [ 8.44609121e-02 1.13705716e-03 9.96426144e-01 2.66155998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:6.31, Z:2.67 [[ 9.81789316e-01 -1.70799077e-01 -8.31709936e-02 3.19229657e+01] [ 1.70161417e-01 9.85305825e-01 -1.47487079e-02 6.30997148e+00] [ 8.44679302e-02 3.27629786e-04 9.96426144e-01 2.66943603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:6.32, Z:2.68 [[ 9.80918446e-01 -1.75731580e-01 -8.31709936e-02 3.19816079e+01] [ 1.75111602e-01 9.84438115e-01 -1.47487079e-02 6.32000422e+00] [ 8.44685099e-02 -9.69262717e-05 9.96426144e-01 2.67784671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057105680999996 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:6.33, Z:2.68 [[ 9.81334027e-01 -1.73396714e-01 -8.31691496e-02 3.20385102e+01] [ 1.72767482e-01 9.84852053e-01 -1.47590992e-02 6.32926105e+00] [ 8.44684870e-02 1.14681683e-04 9.96426145e-01 2.67858931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:6.34, Z:2.68 [[ 9.80874134e-01 -1.75980826e-01 -8.31665938e-02 3.20974431e+01] [ 1.75359642e-01 9.84393590e-01 -1.47734872e-02 6.33951677e+00] [ 8.44685123e-02 -9.31326538e-05 9.96426145e-01 2.68180518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:6.35, Z:2.69 [[ 9.80094718e-01 -1.80271403e-01 -8.31658935e-02 3.21554610e+01] [ 1.79665291e-01 9.83616801e-01 -1.47774283e-02 6.34751534e+00] [ 8.44673178e-02 -4.58745060e-04 9.96426145e-01 2.69118708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237105680999996 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:6.36, Z:2.70 [[ 9.79631360e-01 -1.82773244e-01 -8.31645295e-02 3.22132353e+01] [ 1.82175475e-01 9.83154869e-01 -1.47851005e-02 6.35636288e+00] [ 8.44659329e-02 -6.66589535e-04 9.96426145e-01 2.69917882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:6.37, Z:2.71 [[ 9.79619997e-01 -1.82834601e-01 -8.31635124e-02 3.22707191e+01] [ 1.82236567e-01 9.83143461e-01 -1.47908191e-02 6.37303913e+00] [ 8.44659370e-02 -6.66050834e-04 9.96426145e-01 2.70823580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:6.39, Z:2.71 [[ 9.78296977e-01 -1.89786632e-01 -8.31628436e-02 3.23292927e+01] [ 1.89213316e-01 9.81824547e-01 -1.47945786e-02 6.38951619e+00] [ 8.44591346e-02 -1.26202587e-03 9.96426145e-01 2.70766501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:6.41, Z:2.71 [[ 9.76286452e-01 -1.99871722e-01 -8.31628436e-02 3.23876596e+01] [ 1.99334838e-01 9.79819750e-01 -1.47945786e-02 6.40818966e+00] [ 8.44416146e-02 -2.13350531e-03 9.96426145e-01 2.71255591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:6.42, Z:2.72 [[ 9.75034214e-01 -2.05893718e-01 -8.31628436e-02 3.24453121e+01] [ 2.05378652e-01 9.78570759e-01 -1.47945786e-02 6.42430704e+00] [ 8.44268378e-02 -2.65465243e-03 9.96426145e-01 2.71547278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:6.44, Z:2.73 [[ 9.75502939e-01 -2.03661517e-01 -8.31625047e-02 3.25025073e+01] [ 2.03138196e-01 9.79038272e-01 -1.47964838e-02 6.44410374e+00] [ 8.44327492e-02 -2.45946778e-03 9.96426145e-01 2.72941119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:6.47, Z:2.74 [[ 9.79270575e-01 -1.84697427e-01 -8.31625047e-02 3.25613663e+01] [ 1.84105615e-01 9.82795089e-01 -1.47964838e-02 6.46724275e+00] [ 8.44645736e-02 -8.20922964e-04 9.96426145e-01 2.73936535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:6.49, Z:2.74 [[ 9.82754221e-01 -1.65160244e-01 -8.31639018e-02 3.26213810e+01] [ 1.64499029e-01 9.86266377e-01 -1.47886273e-02 6.48926941e+00] [ 8.44642533e-02 8.53204793e-04 9.96426145e-01 2.74316111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:6.51, Z:2.73 [[ 9.84980084e-01 -1.51319636e-01 -8.31661109e-02 3.26816568e+01] [ 1.50610131e-01 9.88482803e-01 -1.47761931e-02 6.50602641e+00] [ 8.44441987e-02 2.02859711e-03 9.96426145e-01 2.73492760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:6.52, Z:2.74 [[ 9.85769645e-01 -1.46086052e-01 -8.31689423e-02 3.27429780e+01] [ 1.45359298e-01 9.89268826e-01 -1.47602393e-02 6.51697086e+00] [ 8.44327070e-02 2.46081670e-03 9.96426145e-01 2.73641644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837105681 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:6.52, Z:2.74 [[ 9.86087658e-01 -1.43922978e-01 -8.31703563e-02 3.28033594e+01] [ 1.43189220e-01 9.89585377e-01 -1.47522675e-02 6.52351388e+00] [ 8.44273587e-02 2.63793046e-03 9.96426145e-01 2.74245891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:6.52, Z:2.75 [[ 9.85037981e-01 -1.50939370e-01 -8.31714030e-02 3.28658516e+01] [ 1.50231030e-01 9.88540936e-01 -1.47463644e-02 6.52112727e+00] [ 8.44441435e-02 2.03080347e-03 9.96426145e-01 2.75314313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:6.52, Z:2.76 [[ 9.83436039e-01 -1.61046077e-01 -8.31728232e-02 3.29267249e+01] [ 1.60374421e-01 9.86946212e-01 -1.47383497e-02 6.52435313e+00] [ 8.44606562e-02 1.15543092e-03 9.96426145e-01 2.75795657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017105681 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:6.52, Z:2.76 [[ 9.82133840e-01 -1.68805467e-01 -8.31735194e-02 3.29900980e+01] [ 1.68161878e-01 9.85649268e-01 -1.47344199e-02 6.52224302e+00] [ 8.44671691e-02 4.84557096e-04 9.96426145e-01 2.75605773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077105681 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:6.53, Z:2.77 [[ 9.81728569e-01 -1.71146327e-01 -8.31742255e-02 3.30513582e+01] [ 1.70511458e-01 9.85245582e-01 -1.47304326e-02 6.52695353e+00] [ 8.44680977e-02 2.79128072e-04 9.96426145e-01 2.76554329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:6.53, Z:2.78 [[ 9.82338944e-01 -1.67607067e-01 -8.31749345e-02 3.31113385e+01] [ 1.66959866e-01 9.85853709e-01 -1.47264285e-02 6.52845219e+00] [ 8.44665711e-02 5.79468279e-04 9.96426145e-01 2.77801154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:6.53, Z:2.78 [[ 9.83390993e-01 -1.61319820e-01 -8.31749345e-02 3.31723287e+01] [ 1.60650150e-01 9.86901546e-01 -1.47264285e-02 6.53174924e+00] [ 8.44611362e-02 1.11977148e-03 9.96426145e-01 2.77892569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:33.23, Y:6.54, Z:2.79 [[ 9.82950743e-01 -1.63980999e-01 -8.31749345e-02 3.32302130e+01] [ 1.63320833e-01 9.86463095e-01 -1.47264285e-02 6.53740483e+00] [ 8.44638577e-02 8.91154255e-04 9.96426145e-01 2.78584082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:33.29, Y:6.55, Z:2.79 [[ 9.82849756e-01 -1.64585715e-01 -8.31739071e-02 3.32887027e+01] [ 1.63927219e-01 9.86362422e-01 -1.47322288e-02 6.54535698e+00] [ 8.44643309e-02 8.45100139e-04 9.96426145e-01 2.78877818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377105680999996 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:33.35, Y:6.55, Z:2.79 [[ 9.80414079e-01 -1.78524903e-01 -8.31690648e-02 3.33469256e+01] [ 1.77914036e-01 9.83935340e-01 -1.47595152e-02 6.55224845e+00] [ 8.44679230e-02 -3.26507505e-04 9.96426145e-01 2.79169384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:33.40, Y:6.56, Z:2.79 [[ 9.78770468e-01 -1.87328936e-01 -8.31639370e-02 3.34043318e+01] [ 1.86747290e-01 9.82296673e-01 -1.47883517e-02 6.56372915e+00] [ 8.44619449e-02 -1.05623795e-03 9.96426146e-01 2.79436083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:6.57, Z:2.80 [[ 9.77284924e-01 -1.94932659e-01 -8.31590979e-02 3.34606910e+01] [ 1.94376135e-01 9.80815181e-01 -1.48155139e-02 6.57379047e+00] [ 8.44517331e-02 -1.68516569e-03 9.96426146e-01 2.80485519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557105680999996 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:6.59, Z:2.81 [[ 9.76643246e-01 -1.98123233e-01 -8.31574104e-02 3.35161011e+01] [ 1.97577435e-01 9.80175177e-01 -1.48249797e-02 6.59172001e+00] [ 8.44460023e-02 -1.95131156e-03 9.96426146e-01 2.81369072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:6.61, Z:2.82 [[ 9.75781748e-01 -2.02325730e-01 -8.31521506e-02 3.35723274e+01] [ 2.01792635e-01 9.79315618e-01 -1.48544228e-02 6.60868492e+00] [ 8.44376317e-02 -2.28481688e-03 9.96426147e-01 2.82304483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:6.62, Z:2.82 [[ 9.74373184e-01 -2.09006028e-01 -8.31467342e-02 3.36287920e+01] [ 2.08494577e-01 9.77910250e-01 -1.48846796e-02 6.62471544e+00] [ 8.44210314e-02 -2.83241052e-03 9.96426147e-01 2.81782842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737105680999996 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:33.69, Y:6.64, Z:2.82 [[ 9.72455550e-01 -2.17754734e-01 -8.31449326e-02 3.36852375e+01] [ 2.17274235e-01 9.75996954e-01 -1.48947366e-02 6.64493323e+00] [ 8.43926003e-02 -3.58078231e-03 9.96426147e-01 2.81687812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:6.67, Z:2.83 [[ 9.73656309e-01 -2.12323310e-01 -8.31396701e-02 3.37428719e+01] [ 2.11820551e-01 9.77194621e-01 -1.49240531e-02 6.67009960e+00] [ 8.44123628e-02 -3.07979230e-03 9.96426148e-01 2.82700185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:6.69, Z:2.83 [[ 9.76519543e-01 -1.98738886e-01 -8.31410698e-02 3.38007488e+01] [ 1.98187548e-01 9.80050612e-01 -1.49162517e-02 6.69311024e+00] [ 8.44468955e-02 -1.91151344e-03 9.96426148e-01 2.83209997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917105680999995 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:6.72, Z:2.83 [[ 9.79268405e-01 -1.84717643e-01 -8.31431556e-02 3.38601040e+01] [ 1.84116723e-01 9.82791374e-01 -1.49046163e-02 6.71756721e+00] [ 8.44655217e-02 -7.12425494e-04 9.96426148e-01 2.83321911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:6.75, Z:2.85 [[ 9.80010952e-01 -1.80736030e-01 -8.31445790e-02 3.39169013e+01] [ 1.80121470e-01 9.83531568e-01 -1.48966716e-02 6.74554689e+00] [ 8.44676835e-02 -3.77222539e-04 9.96426148e-01 2.84902955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:6.76, Z:2.85 [[ 9.79040105e-01 -1.85922609e-01 -8.31459932e-02 3.39783163e+01] [ 1.85327370e-01 9.82564039e-01 -1.48887742e-02 6.75658274e+00] [ 8.44644226e-02 -8.32521224e-04 9.96426148e-01 2.84686420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:6.77, Z:2.85 [[ 9.78293052e-01 -1.89813640e-01 -8.31473806e-02 3.40398792e+01] [ 1.89233075e-01 9.81819433e-01 -1.48810222e-02 6.76611953e+00] [ 8.44603350e-02 -1.17623386e-03 9.96426148e-01 2.85297881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:6.78, Z:2.86 [[ 9.77400429e-01 -1.94356796e-01 -8.31494940e-02 3.41011910e+01] [ 1.93793626e-01 9.80929629e-01 -1.48692041e-02 6.77622030e+00] [ 8.44537331e-02 -1.58067549e-03 9.96426148e-01 2.85608152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:6.79, Z:2.86 [[ 9.79283857e-01 -1.84632221e-01 -8.31508860e-02 3.41606545e+01] [ 1.84034661e-01 9.82807398e-01 -1.48614157e-02 6.78804516e+00] [ 8.44652021e-02 -7.49100671e-04 9.96426148e-01 2.86199975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:6.80, Z:2.86 [[ 9.81795453e-01 -1.70773093e-01 -8.31519090e-02 3.42213924e+01] [ 1.70126278e-01 9.85310285e-01 -1.48556892e-02 6.80061961e+00] [ 8.44673832e-02 4.38923293e-04 9.96426148e-01 2.86452725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:6.81, Z:2.87 [[ 9.81965529e-01 -1.69791758e-01 -8.31532219e-02 3.42821635e+01] [ 1.69142052e-01 9.85479829e-01 -1.48483371e-02 6.80922536e+00] [ 8.44669481e-02 5.15848595e-04 9.96426148e-01 2.86746783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:6.81, Z:2.88 [[ 9.81571030e-01 -1.72056668e-01 -8.31553767e-02 3.43439575e+01] [ 1.71416096e-01 9.85087005e-01 -1.48362594e-02 6.81237504e+00] [ 8.44679584e-02 3.08672424e-04 9.96426148e-01 2.87558804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:6.81, Z:2.88 [[ 9.81258582e-01 -1.73829116e-01 -8.31566828e-02 3.44074245e+01] [ 1.73195515e-01 9.84775820e-01 -1.48289354e-02 6.81093260e+00] [ 8.44683913e-02 1.48655644e-04 9.96426148e-01 2.88063239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:6.82, Z:2.89 [[ 9.80952511e-01 -1.75546986e-01 -8.31590397e-02 3.44679990e+01] [ 1.74920666e-01 9.84471054e-01 -1.48157067e-02 6.81819625e+00] [ 8.44685200e-02 -1.27299092e-05 9.96426148e-01 2.88943173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:6.82, Z:2.89 [[ 9.79691444e-01 -1.82452020e-01 -8.31620960e-02 3.45299754e+01] [ 1.81851956e-01 9.83214559e-01 -1.47985315e-02 6.82143776e+00] [ 8.44662055e-02 -6.25195109e-04 9.96426148e-01 2.88796849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:6.83, Z:2.90 [[ 9.75844087e-01 -2.02020319e-01 -8.31631397e-02 3.45900262e+01] [ 2.01491377e-01 9.79378580e-01 -1.47926639e-02 6.83155697e+00] [ 8.44366163e-02 -2.32132195e-03 9.96426148e-01 2.89995001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697105681 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:6.84, Z:2.90 [[ 9.73649983e-01 -2.12342713e-01 -8.31641937e-02 3.46485797e+01] [ 2.11851734e-01 9.77189948e-01 -1.47867357e-02 6.84361496e+00] [ 8.44070697e-02 -3.22137370e-03 9.96426148e-01 2.90397481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:6.86, Z:2.91 [[ 9.72358101e-01 -2.18182125e-01 -8.31641937e-02 3.47066977e+01] [ 2.17712400e-01 9.75900949e-01 -1.47867357e-02 6.86102330e+00] [ 8.43862170e-02 -3.72787397e-03 9.96426148e-01 2.91360885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:6.88, Z:2.93 [[ 9.73694317e-01 -2.12139328e-01 -8.31641937e-02 3.47641142e+01] [ 2.11647610e-01 9.77234179e-01 -1.47867357e-02 6.88457584e+00] [ 8.44077408e-02 -3.20374234e-03 9.96426148e-01 2.92533442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877105680999996 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:6.90, Z:2.94 [[ 9.74296253e-01 -2.09357021e-01 -8.31651964e-02 3.48238774e+01] [ 2.08855674e-01 9.77834765e-01 -1.47810941e-02 6.90248298e+00] [ 8.44163461e-02 -2.96835860e-03 9.96426148e-01 2.93555158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937105681 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:34.88, Y:6.93, Z:2.95 [[ 9.76269320e-01 -1.99953658e-01 -8.31670031e-02 3.48820331e+01] [ 1.99419084e-01 9.79802964e-01 -1.47709218e-02 6.92819017e+00] [ 8.44407760e-02 -2.16468980e-03 9.96426149e-01 2.94647964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:6.95, Z:2.94 [[ 9.79115067e-01 -1.85517333e-01 -8.31685373e-02 3.49426630e+01] [ 1.84931377e-01 9.82640555e-01 -1.47622784e-02 6.94555898e+00] [ 8.44634361e-02 -9.26502972e-04 9.96426149e-01 2.94324779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057105680999996 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:6.97, Z:2.94 [[ 9.81655752e-01 -1.71565340e-01 -8.31704212e-02 3.50021015e+01] [ 1.70930174e-01 9.85172708e-01 -1.47516568e-02 6.96883970e+00] [ 8.44681020e-02 2.64714148e-04 9.96426149e-01 2.93999422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:6.98, Z:2.95 [[ 9.81541029e-01 -1.72219713e-01 -8.31719802e-02 3.50626839e+01] [ 1.71587637e-01 9.85058542e-01 -1.47428618e-02 6.98468150e+00] [ 8.44682809e-02 1.99440171e-04 9.96426149e-01 2.94549651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:6.99, Z:2.95 [[ 9.80663637e-01 -1.77146562e-01 -8.31740727e-02 3.51244627e+01] [ 1.76533161e-01 9.84184454e-01 -1.47310471e-02 6.99335899e+00] [ 8.44681837e-02 -2.36779691e-04 9.96426149e-01 2.94607452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237105680999996 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:7.00, Z:2.95 [[ 9.79945787e-01 -1.81074839e-01 -8.31754594e-02 3.51851873e+01] [ 1.80476215e-01 9.83469147e-01 -1.47232134e-02 7.00321943e+00] [ 8.44665015e-02 -5.83241182e-04 9.96426149e-01 2.95147773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:7.01, Z:2.96 [[ 9.78084523e-01 -1.90872407e-01 -8.31768629e-02 3.52470336e+01] [ 1.90309747e-01 9.81613804e-01 -1.47152800e-02 7.01035918e+00] [ 8.44562977e-02 -1.43658013e-03 9.96426149e-01 2.95579907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:7.02, Z:2.96 [[ 9.75008299e-01 -2.06010182e-01 -8.31782546e-02 3.53082673e+01] [ 2.05502966e-01 9.78545974e-01 -1.47074092e-02 7.01507514e+00] [ 8.44236222e-02 -2.75353204e-03 9.96426149e-01 2.96438473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417105680999995 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:7.03, Z:2.98 [[ 9.75807503e-01 -2.02189687e-01 -8.31808182e-02 3.53686392e+01] [ 2.01669855e-01 9.79343346e-01 -1.46928957e-02 7.02527366e+00] [ 8.44333328e-02 -2.43762567e-03 9.96426149e-01 2.97683107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477105681 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:7.04, Z:2.98 [[ 9.79959556e-01 -1.80997238e-01 -8.31821396e-02 3.54279697e+01] [ 1.80401544e-01 9.83483412e-01 -1.46854112e-02 7.04138117e+00] [ 8.44662733e-02 -6.15077324e-04 9.96426149e-01 2.98111313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:7.06, Z:2.99 [[ 9.83146608e-01 -1.62798392e-01 -8.31831115e-02 3.54884229e+01] [ 1.62137937e-01 9.86658902e-01 -1.46799040e-02 7.05694354e+00] [ 8.44632223e-02 9.45359721e-04 9.96426149e-01 2.98676977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597105680999995 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:7.06, Z:2.99 [[ 9.82158354e-01 -1.68657373e-01 -8.31844843e-02 3.55504140e+01] [ 1.68018530e-01 9.85674643e-01 -1.46721210e-02 7.06430929e+00] [ 8.44673982e-02 4.33811400e-04 9.96426149e-01 2.98694176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657105681 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:7.07, Z:2.99 [[ 9.80937144e-01 -1.75620137e-01 -8.31858597e-02 3.56104913e+01] [ 1.75006915e-01 9.84457992e-01 -1.46643185e-02 7.07325004e+00] [ 8.44683340e-02 -1.73325917e-04 9.96426149e-01 2.99398095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:35.67, Y:7.08, Z:3.00 [[ 9.79863115e-01 -1.81516450e-01 -8.31868692e-02 3.56730345e+01] [ 1.80924900e-01 9.83387668e-01 -1.46585897e-02 7.08106388e+00] [ 8.44657165e-02 -6.87164660e-04 9.96426149e-01 3.00065310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:7.09, Z:3.00 [[ 9.77036915e-01 -1.96159260e-01 -8.31890118e-02 3.57344231e+01] [ 1.95621555e-01 9.80570084e-01 -1.46464200e-02 7.08730938e+00] [ 8.44456872e-02 -1.96347077e-03 9.96426149e-01 3.00078084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837105681 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:35.80, Y:7.10, Z:3.01 [[ 9.74798341e-01 -2.06996640e-01 -8.31900553e-02 3.57962035e+01] [ 2.06498708e-01 9.78337334e-01 -1.46404910e-02 7.09572418e+00] [ 8.44184694e-02 -2.90711265e-03 9.96426149e-01 3.00720237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:35.86, Y:7.10, Z:3.01 [[ 9.72555532e-01 -2.17289951e-01 -8.31914367e-02 3.58564367e+01] [ 2.16830128e-01 9.76099678e-01 -1.46326373e-02 7.10400698e+00] [ 8.43826596e-02 -3.80735749e-03 9.96426149e-01 3.00918468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:35.92, Y:7.11, Z:3.01 [[ 9.70782761e-01 -2.25077424e-01 -8.31924475e-02 3.59181701e+01] [ 2.24646512e-01 9.74330539e-01 -1.46268880e-02 7.11318079e+00] [ 8.43491245e-02 -4.48936244e-03 9.96426149e-01 3.01494907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017105681 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:35.98, Y:7.13, Z:3.03 [[ 9.69613699e-01 -2.30060972e-01 -8.31938971e-02 3.59766502e+01] [ 2.29648994e-01 9.73163725e-01 -1.46186385e-02 7.13027251e+00] [ 8.43244610e-02 -4.93096258e-03 9.96426149e-01 3.02740628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:36.04, Y:7.15, Z:3.03 [[ 9.70896822e-01 -2.24583962e-01 -8.31949860e-02 3.60353871e+01] [ 2.24152481e-01 9.74444530e-01 -1.46124391e-02 7.15279524e+00] [ 8.43506185e-02 -4.46119187e-03 9.96426149e-01 3.03395444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:36.09, Y:7.17, Z:3.04 [[ 9.73495828e-01 -2.13035800e-01 -8.31962840e-02 3.60949094e+01] [ 2.12562841e-01 9.77038245e-01 -1.46050448e-02 7.17485737e+00] [ 8.43973487e-02 -3.46648826e-03 9.96426149e-01 3.03500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197105681 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:36.15, Y:7.21, Z:3.05 [[ 9.76385236e-01 -1.99372723e-01 -8.32008939e-02 3.61527225e+01] [ 1.98852409e-01 9.79921007e-01 -1.45787368e-02 7.20695810e+00] [ 8.44369061e-02 -2.31023478e-03 9.96426150e-01 3.04521237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257105681 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:36.21, Y:7.22, Z:3.04 [[ 9.78093355e-01 -1.90814359e-01 -8.32061874e-02 3.62127297e+01] [ 1.90265674e-01 9.81624834e-01 -1.45484617e-02 7.22395462e+00] [ 8.44533154e-02 -1.60152757e-03 9.96426150e-01 3.04272409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:36.27, Y:7.24, Z:3.05 [[ 9.80089910e-01 -1.80277764e-01 -8.32087514e-02 3.62721060e+01] [ 1.79692354e-01 9.83615487e-01 -1.45337825e-02 7.24415474e+00] [ 8.44655344e-02 -7.07562796e-04 9.96426150e-01 3.05099627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377105680999996 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:7.26, Z:3.05 [[ 9.81966179e-01 -1.69758513e-01 -8.32134093e-02 3.63331731e+01] [ 1.69137598e-01 9.85485676e-01 -1.45070647e-02 7.25573294e+00] [ 8.44683207e-02 1.70930727e-04 9.96426151e-01 3.05427353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:36.40, Y:7.26, Z:3.05 [[ 9.82662280e-01 -1.65679176e-01 -8.32181174e-02 3.63951369e+01] [ 1.65045942e-01 9.86179581e-01 -1.44800069e-02 7.26087873e+00] [ 8.44670438e-02 4.94143995e-04 9.96426151e-01 3.05198500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:36.46, Y:7.26, Z:3.06 [[ 9.81401739e-01 -1.72987446e-01 -8.32224087e-02 3.64583593e+01] [ 1.72382500e-01 9.84924016e-01 -1.44553012e-02 7.26133772e+00] [ 8.44683347e-02 -1.59629153e-04 9.96426151e-01 3.05629710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557105680999996 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:7.26, Z:3.06 [[ 9.80578622e-01 -1.77593274e-01 -8.32237660e-02 3.65208056e+01] [ 1.77005536e-01 9.84103811e-01 -1.44474824e-02 7.26166155e+00] [ 8.44666010e-02 -5.64174937e-04 9.96426151e-01 3.06203932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617105681 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:7.26, Z:3.07 [[ 9.80254004e-01 -1.79375767e-01 -8.32251277e-02 3.65837145e+01] [ 1.78795105e-01 9.83780365e-01 -1.44396342e-02 7.26364331e+00] [ 8.44653670e-02 -7.25736178e-04 9.96426151e-01 3.06728678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:36.65, Y:7.26, Z:3.08 [[ 9.78749054e-01 -1.87413022e-01 -8.32264862e-02 3.66461022e+01] [ 1.86861980e-01 9.82280166e-01 -1.44318000e-02 7.26287662e+00] [ 8.44564339e-02 -1.42675538e-03 9.96426151e-01 3.07789015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737105680999996 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:36.71, Y:7.26, Z:3.08 [[ 9.75105146e-01 -2.05531050e-01 -8.32282534e-02 3.67085908e+01] [ 2.05046454e-01 9.78645988e-01 -1.44216012e-02 7.26218026e+00] [ 8.44150831e-02 -3.00308068e-03 9.96426151e-01 3.08147207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797105681 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:36.77, Y:7.27, Z:3.09 [[ 9.69605873e-01 -2.30081143e-01 -8.32293174e-02 3.67707078e+01] [ 2.29686612e-01 9.73157878e-01 -1.44154583e-02 7.26525039e+00] [ 8.43119910e-02 -5.13934698e-03 9.96426151e-01 3.08558329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters Centerline goodness : 0.998471 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:7.27, Z:3.09 [[ 9.70157614e-01 -2.27742930e-01 -8.32307696e-02 3.68313822e+01] [ 2.27340554e-01 9.73708739e-01 -1.44070688e-02 7.26967563e+00] [ 8.43236358e-02 -4.94460182e-03 9.96426151e-01 3.08678420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917105680999995 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:7.29, Z:3.09 [[ 9.71133498e-01 -2.23544734e-01 -8.32314911e-02 3.68905426e+01] [ 2.23127359e-01 9.74682891e-01 -1.44028991e-02 7.28617015e+00] [ 8.43440027e-02 -4.58408500e-03 9.96426151e-01 3.09418196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977105681 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:7.31, Z:3.11 [[ 9.73438195e-01 -2.13284828e-01 -8.32325769e-02 3.69489670e+01] [ 2.12830559e-01 9.76983055e-01 -1.43966220e-02 7.30609779e+00] [ 8.43873983e-02 -3.70021410e-03 9.96426152e-01 3.10759432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:7.33, Z:3.11 [[ 9.77847484e-01 -1.92058380e-01 -8.32338629e-02 3.70068290e+01] [ 1.91527737e-01 9.81381718e-01 -1.43891828e-02 7.33019626e+00] [ 8.44477546e-02 -1.87116717e-03 9.96426152e-01 3.11113988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097105680999995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:7.35, Z:3.11 [[ 9.82062953e-01 -1.69187261e-01 -8.32347696e-02 3.70659238e+01] [ 1.68574733e-01 9.85583919e-01 -1.43839366e-02 7.35401257e+00] [ 8.44684292e-02 9.46522005e-05 9.96426152e-01 3.11302731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157105681 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:7.36, Z:3.12 [[ 9.82300653e-01 -1.67799315e-01 -8.32395130e-02 3.71282990e+01] [ 1.67184142e-01 9.85821158e-01 -1.43564342e-02 7.36286306e+00] [ 8.44682729e-02 1.86008082e-04 9.96426152e-01 3.11643484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:7.36, Z:3.13 [[ 9.81638013e-01 -1.71632321e-01 -8.32415631e-02 3.71900923e+01] [ 1.71031904e-01 9.85161064e-01 -1.43445372e-02 7.36374070e+00] [ 8.44683331e-02 -1.55820044e-04 9.96426152e-01 3.12708242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277105680999995 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:7.37, Z:3.13 [[ 9.80171032e-01 -1.79820268e-01 -8.32431317e-02 3.72522983e+01] [ 1.79250053e-01 9.83699097e-01 -1.43354286e-02 7.37094193e+00] [ 8.44639941e-02 -8.70163893e-04 9.96426152e-01 3.12951289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337105681 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:7.38, Z:3.13 [[ 9.79962897e-01 -1.80950350e-01 -8.32447731e-02 3.73144845e+01] [ 1.80385013e-01 9.83491747e-01 -1.43258907e-02 7.37805431e+00] [ 8.44628223e-02 -9.77268178e-04 9.96426152e-01 3.13084746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:37.38, Y:7.39, Z:3.13 [[ 9.79075900e-01 -1.85687348e-01 -8.32501740e-02 3.73754532e+01] [ 1.85141757e-01 9.82607856e-01 -1.42944365e-02 7.38986080e+00] [ 8.44565710e-02 -1.41774526e-03 9.96426153e-01 3.12680427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:37.44, Y:7.40, Z:3.13 [[ 9.78601368e-01 -1.88171874e-01 -8.32508750e-02 3.74364332e+01] [ 1.87635597e-01 9.82134751e-01 -1.42903528e-02 7.39886593e+00] [ 8.44526198e-02 -1.63626881e-03 9.96426153e-01 3.12527266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517105681 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:37.50, Y:7.40, Z:3.13 [[ 9.77851803e-01 -1.92027149e-01 -8.32551760e-02 3.74972679e+01] [ 1.91506938e-01 9.81387587e-01 -1.42652514e-02 7.40495593e+00] [ 8.44449118e-02 -1.99464198e-03 9.96426153e-01 3.13410758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:37.56, Y:7.41, Z:3.14 [[ 9.77195361e-01 -1.95339810e-01 -8.32561368e-02 3.75587053e+01] [ 1.94832062e-01 9.80732956e-01 -1.42596414e-02 7.41128037e+00] [ 8.44375128e-02 -2.28650931e-03 9.96426153e-01 3.14334479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:37.62, Y:7.42, Z:3.15 [[ 9.77026383e-01 -1.96182669e-01 -8.32574815e-02 3.76199120e+01] [ 1.95678641e-01 9.80564509e-01 -1.42517859e-02 7.42031926e+00] [ 8.44352849e-02 -2.36733996e-03 9.96426153e-01 3.15182792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697105681 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:37.68, Y:7.43, Z:3.15 [[ 9.78286865e-01 -1.89796673e-01 -8.32588327e-02 3.76813751e+01] [ 1.89270216e-01 9.81821724e-01 -1.42438877e-02 7.43125562e+00] [ 8.44487732e-02 -1.82380901e-03 9.96426153e-01 3.15491303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757105681 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:7.45, Z:3.17 [[ 9.80701425e-01 -1.76895065e-01 -8.32637469e-02 3.77401426e+01] [ 1.76324540e-01 9.84229438e-01 -1.42151039e-02 7.45163770e+00] [ 8.44652125e-02 -7.40669184e-04 9.96426153e-01 3.16577802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:7.46, Z:3.17 [[ 9.82031532e-01 -1.69354651e-01 -8.32650707e-02 3.78006077e+01] [ 1.68757694e-01 9.85555170e-01 -1.42073452e-02 7.46204999e+00] [ 8.44684009e-02 -9.95603190e-05 9.96426153e-01 3.17447447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877105680999996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:37.86, Y:7.47, Z:3.18 [[ 9.83348852e-01 -1.61527834e-01 -8.32694054e-02 3.78624514e+01] [ 1.60904986e-01 9.86868005e-01 -1.41818939e-02 7.47045536e+00] [ 8.44666826e-02 5.47286629e-04 9.96426154e-01 3.17714279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937105681 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:37.93, Y:7.47, Z:3.18 [[ 9.84798193e-01 -1.52441810e-01 -8.32707278e-02 3.79253611e+01] [ 1.51787153e-01 9.88311567e-01 -1.41741251e-02 7.46810544e+00] [ 8.44581528e-02 1.31922611e-03 9.96426154e-01 3.17716301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:7.46, Z:3.17 [[ 9.84929052e-01 -1.51592591e-01 -8.32733344e-02 3.79891086e+01] [ 1.50936201e-01 9.88442103e-01 -1.41587948e-02 7.46416215e+00] [ 8.44572382e-02 1.37644764e-03 9.96426154e-01 3.17347290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057105680999996 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:38.05, Y:7.46, Z:3.18 [[ 9.83687189e-01 -1.59452045e-01 -8.32740017e-02 3.80524756e+01] [ 1.58824058e-01 9.87205429e-01 -1.41548691e-02 7.46274629e+00] [ 8.44655694e-02 6.98048473e-04 9.96426154e-01 3.18191092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:38.12, Y:7.45, Z:3.19 [[ 9.81709428e-01 -1.71206591e-01 -8.32760592e-02 3.81164918e+01] [ 1.70621759e-01 9.85235098e-01 -1.41427542e-02 7.45371731e+00] [ 8.44678290e-02 -3.24632571e-04 9.96426154e-01 3.18755498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:38.18, Y:7.46, Z:3.19 [[ 9.81617836e-01 -1.71730297e-01 -8.32774237e-02 3.81784576e+01] [ 1.71148028e-01 9.85143930e-01 -1.41347147e-02 7.46047232e+00] [ 8.44676072e-02 -3.77878825e-04 9.96426154e-01 3.19272431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237105680999996 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:38.24, Y:7.47, Z:3.20 [[ 9.82292825e-01 -1.67825651e-01 -8.32787927e-02 3.82391719e+01] [ 1.67230050e-01 9.85816691e-01 -1.41266442e-02 7.46544906e+00] [ 8.44684372e-02 -5.02153866e-05 9.96426154e-01 3.19643760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297105681 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:38.30, Y:7.47, Z:3.21 [[ 9.81345736e-01 -1.73276717e-01 -8.32810060e-02 3.83009183e+01] [ 1.72701798e-01 9.84873035e-01 -1.41135844e-02 7.46847686e+00] [ 8.44667727e-02 -5.32473621e-04 9.96426154e-01 3.20992127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:7.47, Z:3.22 [[ 9.81720512e-01 -1.71139974e-01 -8.32823281e-02 3.83613297e+01] [ 1.70558039e-01 9.85246661e-01 -1.41057783e-02 7.47348624e+00] [ 8.44676982e-02 -3.56538701e-04 9.96426154e-01 3.21825528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417105680999995 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:38.42, Y:7.48, Z:3.22 [[ 9.82109739e-01 -1.68891372e-01 -8.32836393e-02 3.84215002e+01] [ 1.68302021e-01 9.85634656e-01 -1.40980327e-02 7.48151136e+00] [ 8.44682773e-02 -1.70989598e-04 9.96426154e-01 3.22361366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:7.49, Z:3.23 [[ 9.83410260e-01 -1.61145842e-01 -8.32843158e-02 3.84819242e+01] [ 1.60529067e-01 9.86930482e-01 -1.40940352e-02 7.49065414e+00] [ 8.44670251e-02 4.90665257e-04 9.96426154e-01 3.23159130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:7.50, Z:3.23 [[ 9.84249349e-01 -1.55938387e-01 -8.32852838e-02 3.85431417e+01] [ 1.55303472e-01 9.87766344e-01 -1.40883126e-02 7.49942506e+00] [ 8.44633091e-02 9.31918746e-04 9.96426154e-01 3.23404087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597105680999995 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:38.60, Y:7.51, Z:3.24 [[ 9.85572861e-01 -1.47341369e-01 -8.32865919e-02 3.86040160e+01] [ 1.46676433e-01 9.89084304e-01 -1.40805751e-02 7.50810576e+00] [ 8.44521120e-02 1.66125245e-03 9.96426154e-01 3.23995882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:7.51, Z:3.24 [[ 9.86877761e-01 -1.38330778e-01 -8.32879349e-02 3.86666996e+01] [ 1.37634459e-01 9.90383116e-01 -1.40726267e-02 7.50758993e+00] [ 8.44336419e-02 2.42467245e-03 9.96426154e-01 3.23988426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:7.51, Z:3.25 [[ 9.86164563e-01 -1.43326414e-01 -8.32886210e-02 3.87274989e+01] [ 1.42648198e-01 9.89673465e-01 -1.40685650e-02 7.50903610e+00] [ 8.44449351e-02 1.99294859e-03 9.96426154e-01 3.24959984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777105680999995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:7.51, Z:3.25 [[ 9.84303692e-01 -1.55593213e-01 -8.32886210e-02 3.87877570e+01] [ 1.54958736e-01 9.87820766e-01 -1.40685650e-02 7.50741674e+00] [ 8.44632026e-02 9.41441044e-04 9.96426154e-01 3.25495253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:7.51, Z:3.26 [[ 9.82310336e-01 -1.67718579e-01 -8.32879457e-02 3.88476319e+01] [ 1.67127179e-01 9.85834910e-01 -1.40725618e-02 7.50804638e+00] [ 8.44683945e-02 -9.60564862e-05 9.96426154e-01 3.25954244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:38.91, Y:7.51, Z:3.26 [[ 9.81256825e-01 -1.73776504e-01 -8.32872730e-02 3.89051884e+01] [ 1.73206525e-01 9.84784926e-01 -1.40765419e-02 7.51326208e+00] [ 8.44662232e-02 -6.13196406e-04 9.96426154e-01 3.26179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957105680999994 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:7.52, Z:3.27 [[ 9.81053763e-01 -1.74920033e-01 -8.32856328e-02 3.89640847e+01] [ 1.74353344e-01 9.84582393e-01 -1.40862395e-02 7.51721212e+00] [ 8.44655332e-02 -7.01770252e-04 9.96426154e-01 3.27009003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017105681 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:7.53, Z:3.28 [[ 9.82827542e-01 -1.64664198e-01 -8.32810011e-02 3.90217117e+01] [ 1.64058369e-01 9.86349663e-01 -1.41135707e-02 7.52843404e+00] [ 8.44681872e-02 2.08260791e-04 9.96426155e-01 3.27825906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:7.54, Z:3.28 [[ 9.84020423e-01 -1.57381238e-01 -8.32763603e-02 3.90783786e+01] [ 1.56747030e-01 9.87537545e-01 -1.41409004e-02 7.53715025e+00] [ 8.44640449e-02 8.61612644e-04 9.96426155e-01 3.28381259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:7.54, Z:3.29 [[ 9.84522795e-01 -1.54208251e-01 -8.32747326e-02 3.91365965e+01] [ 1.53561899e-01 9.88037705e-01 -1.41504792e-02 7.54202603e+00] [ 8.44606964e-02 1.14364331e-03 9.96426155e-01 3.28893469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197105681 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:7.54, Z:3.30 [[ 9.83911194e-01 -1.58065939e-01 -8.32701709e-02 3.91951604e+01] [ 1.57431100e-01 9.87428202e-01 -1.41772730e-02 7.54369604e+00] [ 8.44642590e-02 8.39862973e-04 9.96426156e-01 3.29764529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:7.55, Z:3.30 [[ 9.83275584e-01 -1.61975324e-01 -8.32653631e-02 3.92524602e+01] [ 1.61352083e-01 9.86794665e-01 -1.42054540e-02 7.54761669e+00] [ 8.44667491e-02 5.32836272e-04 9.96426156e-01 3.30357798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:7.55, Z:3.31 [[ 9.82305374e-01 -1.67759682e-01 -8.32636890e-02 3.93092955e+01] [ 1.67156333e-01 9.85827919e-01 -1.42152601e-02 7.55405295e+00] [ 8.44684168e-02 4.56734647e-05 9.96426156e-01 3.31202348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377105680999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:7.56, Z:3.31 [[ 9.80272093e-01 -1.79261555e-01 -8.32581449e-02 3.93675090e+01] [ 1.78696783e-01 9.83801029e-01 -1.42476578e-02 7.56069698e+00] [ 8.44635059e-02 -9.11381241e-04 9.96426157e-01 3.31252238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:7.57, Z:3.32 [[ 9.78340259e-01 -1.89523659e-01 -8.32533487e-02 3.94243610e+01] [ 1.88993516e-01 9.81874563e-01 -1.42756289e-02 7.57233828e+00] [ 8.44499147e-02 -1.76792066e-03 9.96426157e-01 3.31504037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:7.58, Z:3.33 [[ 9.75935770e-01 -2.01540392e-01 -8.32516824e-02 3.94816815e+01] [ 2.01052925e-01 9.79476212e-01 -1.42853398e-02 7.58178319e+00] [ 8.44221155e-02 -2.79642012e-03 9.96426157e-01 3.32790044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557105680999996 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:7.60, Z:3.34 [[ 9.76114342e-01 -2.00675692e-01 -8.32469684e-02 3.95378012e+01] [ 2.00182753e-01 9.79654026e-01 -1.43127577e-02 7.59902146e+00] [ 8.44254503e-02 -2.69371926e-03 9.96426157e-01 3.33860676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:7.62, Z:3.34 [[ 9.79237139e-01 -1.84838753e-01 -8.32421853e-02 3.95936874e+01] [ 1.84286184e-01 9.82768005e-01 -1.43405221e-02 7.61600917e+00] [ 8.44584406e-02 -1.29761291e-03 9.96426158e-01 3.33758406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:7.64, Z:3.35 [[ 9.82406632e-01 -1.67177231e-01 -8.32405133e-02 3.96490823e+01] [ 1.66560356e-01 9.85926832e-01 -1.43502211e-02 7.63724863e+00] [ 8.44680858e-02 2.33182820e-04 9.96426158e-01 3.34806250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737105680999996 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:7.65, Z:3.35 [[ 9.84509068e-01 -1.54316856e-01 -8.32358242e-02 3.97065150e+01] [ 1.53651708e-01 9.88020467e-01 -1.43773681e-02 7.65065117e+00] [ 8.44573682e-02 1.36532266e-03 9.96426158e-01 3.35402697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797105681 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:7.66, Z:3.36 [[ 9.84243498e-01 -1.56002239e-01 -8.32348350e-02 3.97643136e+01] [ 1.55342620e-01 9.87755940e-01 -1.43830923e-02 7.66102331e+00] [ 8.44594973e-02 1.22654769e-03 9.96426158e-01 3.35653845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:7.66, Z:3.35 [[ 9.83277139e-01 -1.61983912e-01 -8.32302809e-02 3.98245569e+01] [ 1.61343436e-01 9.86793122e-01 -1.44093977e-02 7.66285733e+00] [ 8.44651593e-02 7.39771867e-04 9.96426159e-01 3.35430496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917105680999995 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:7.67, Z:3.36 [[ 9.82760800e-01 -1.65089896e-01 -8.32258148e-02 3.98818662e+01] [ 1.64458352e-01 9.86278397e-01 -1.44351469e-02 7.66957186e+00] [ 8.44669202e-02 4.99116232e-04 9.96426159e-01 3.35912470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:7.68, Z:3.37 [[ 9.82936224e-01 -1.64043052e-01 -8.32241338e-02 3.99392044e+01] [ 1.63406941e-01 9.86452999e-01 -1.44448322e-02 7.67851769e+00] [ 8.44662707e-02 5.98947666e-04 9.96426159e-01 3.36721571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:7.68, Z:3.37 [[ 9.81665047e-01 -1.71488408e-01 -8.32193559e-02 3.99961487e+01] [ 1.70876642e-01 9.85186138e-01 -1.44723068e-02 7.68231861e+00] [ 8.44683886e-02 -1.32863284e-05 9.96426159e-01 3.36987869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097105680999995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:7.69, Z:3.38 [[ 9.78278010e-01 -1.89861241e-01 -8.32156477e-02 4.00539021e+01] [ 1.89313780e-01 9.81809670e-01 -1.44935974e-02 7.68940672e+00] [ 8.44537000e-02 -1.57510122e-03 9.96426160e-01 3.37551411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:7.70, Z:3.38 [[ 9.75750606e-01 -2.02451658e-01 -8.32110652e-02 4.01112809e+01] [ 2.01947514e-01 9.79288709e-01 -1.45198591e-02 7.69653793e+00] [ 8.44272262e-02 -2.63650645e-03 9.96426160e-01 3.38352956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:7.71, Z:3.39 [[ 9.75504842e-01 -2.03633555e-01 -8.32086467e-02 4.01677055e+01] [ 2.03132518e-01 9.79043386e-01 -1.45337057e-02 7.71039160e+00] [ 8.44244254e-02 -2.72468169e-03 9.96426160e-01 3.39018583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277105680999995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:7.73, Z:3.40 [[ 9.76063501e-01 -2.00940608e-01 -8.32040463e-02 4.02236531e+01] [ 2.00427568e-01 9.79600325e-01 -1.45599953e-02 7.72649458e+00] [ 8.44324051e-02 -2.46490463e-03 9.96426160e-01 3.39900160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:7.75, Z:3.41 [[ 9.77916400e-01 -1.91722228e-01 -8.31991748e-02 4.02773993e+01] [ 1.91173478e-01 9.81447858e-01 -1.45877791e-02 7.74571234e+00] [ 8.44524534e-02 -1.63984722e-03 9.96426161e-01 3.40726791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:7.77, Z:3.42 [[ 9.79869251e-01 -1.81478807e-01 -8.31967201e-02 4.03320526e+01] [ 1.80891946e-01 9.83394576e-01 -1.46017654e-02 7.77075109e+00] [ 8.44651143e-02 -7.41795699e-04 9.96426161e-01 3.41578588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457105680999994 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:7.79, Z:3.42 [[ 9.82070603e-01 -1.69164005e-01 -8.31917656e-02 4.03896587e+01] [ 1.68530549e-01 9.85587854e-01 -1.46299390e-02 7.79267437e+00] [ 8.44676528e-02 3.47279077e-04 9.96426161e-01 3.41630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:7.81, Z:3.41 [[ 9.83428497e-01 -1.61082341e-01 -8.31917656e-02 4.04484551e+01] [ 1.60419983e-01 9.86940421e-01 -1.46299390e-02 7.81074571e+00] [ 8.44619410e-02 1.04187726e-03 9.96426161e-01 3.41339279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:7.82, Z:3.42 [[ 9.83833926e-01 -1.58587312e-01 -8.31917656e-02 4.05081211e+01] [ 1.57916048e-01 9.87344158e-01 -1.46299390e-02 7.82221550e+00] [ 8.44590265e-02 1.25611551e-03 9.96426161e-01 3.41541797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637105680999994 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:7.83, Z:3.43 [[ 9.83194449e-01 -1.62504784e-01 -8.31917656e-02 4.05680961e+01] [ 1.61847507e-01 9.86707327e-01 -1.46299390e-02 7.82852768e+00] [ 8.44633597e-02 9.19694940e-04 9.96426161e-01 3.42516637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:7.83, Z:3.44 [[ 9.82087449e-01 -1.69066180e-01 -8.31917656e-02 4.06279268e+01] [ 1.68432374e-01 9.85604637e-01 -1.46299390e-02 7.82761708e+00] [ 8.44676178e-02 3.55692902e-04 9.96426161e-01 3.43529572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:7.84, Z:3.45 [[ 9.81408698e-01 -1.72962875e-01 -8.31914193e-02 4.06857807e+01] [ 1.72342867e-01 9.84928344e-01 -1.46319079e-02 7.83781092e+00] [ 8.44683637e-02 2.24339660e-05 9.96426161e-01 3.44749669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:7.84, Z:3.44 [[ 9.81033004e-01 -1.75081524e-01 -8.31907732e-02 4.07463219e+01] [ 1.74468806e-01 9.84553927e-01 -1.46355807e-02 7.84416923e+00] [ 8.44682222e-02 -1.56207173e-04 9.96426161e-01 3.44110172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877105680999996 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:7.85, Z:3.44 [[ 9.80028930e-01 -1.80617554e-01 -8.31901136e-02 4.08042938e+01] [ 1.80024406e-01 9.83553203e-01 -1.46393285e-02 7.85241870e+00] [ 8.44660224e-02 -6.29285402e-04 9.96426161e-01 3.43998217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:40.86, Y:7.86, Z:3.45 [[ 9.78680630e-01 -1.87788135e-01 -8.31855787e-02 4.08632934e+01] [ 1.87218620e-01 9.82208799e-01 -1.46650524e-02 7.86298702e+00] [ 8.44595302e-02 -1.22148657e-03 9.96426162e-01 3.45350660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:40.92, Y:7.87, Z:3.46 [[ 9.76350676e-01 -1.99548283e-01 -8.31855787e-02 4.09210447e+01] [ 1.99021255e-01 9.79885440e-01 -1.46650524e-02 7.86709968e+00] [ 8.44387235e-02 -2.23746444e-03 9.96426162e-01 3.46052752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057105680999996 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:40.98, Y:7.88, Z:3.47 [[ 9.75570666e-01 -2.03328507e-01 -8.31828959e-02 4.09778970e+01] [ 2.02813878e-01 9.79107257e-01 -1.46802544e-02 7.87624658e+00] [ 8.44298912e-02 -2.54902018e-03 9.96426162e-01 3.46945068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:41.04, Y:7.89, Z:3.48 [[ 9.77262053e-01 -1.95037757e-01 -8.31814456e-02 4.10363251e+01] [ 1.94492420e-01 9.80794039e-01 -1.46884674e-02 7.88782117e+00] [ 8.44486717e-02 -1.82367884e-03 9.96426162e-01 3.47503686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:41.09, Y:7.91, Z:3.49 [[ 9.80076427e-01 -1.80363965e-01 -8.31807573e-02 4.10927767e+01] [ 1.79765404e-01 9.83599783e-01 -1.46923644e-02 7.90779014e+00] [ 8.44665479e-02 -5.53382455e-04 9.96426162e-01 3.48697693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237105680999996 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:7.92, Z:3.49 [[ 9.81072330e-01 -1.74865789e-01 -8.31807573e-02 4.11491249e+01] [ 1.74247482e-01 9.84592276e-01 -1.46923644e-02 7.92252425e+00] [ 8.44683230e-02 -7.97653525e-05 9.96426162e-01 3.48602469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297105681 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:41.21, Y:7.94, Z:3.49 [[ 9.83309333e-01 -1.61814639e-01 -8.31791983e-02 4.12086263e+01] [ 1.61148870e-01 9.86820610e-01 -1.47011848e-02 7.93786681e+00] [ 8.44618142e-02 1.05157834e-03 9.96426162e-01 3.48955417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:41.27, Y:7.95, Z:3.49 [[ 9.85704940e-01 -1.46515791e-01 -8.31798915e-02 4.12684542e+01] [ 1.45795873e-01 9.89205517e-01 -1.46972617e-02 7.94980845e+00] [ 8.44353885e-02 2.35987859e-03 9.96426162e-01 3.48815505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417105680999995 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:7.96, Z:3.50 [[ 9.85836669e-01 -1.45626807e-01 -8.31798915e-02 4.13270081e+01] [ 1.44903733e-01 9.89336595e-01 -1.46972617e-02 7.95507131e+00] [ 8.44332260e-02 2.43602279e-03 9.96426162e-01 3.49581367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477105681 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:7.95, Z:3.50 [[ 9.83196808e-01 -1.62496940e-01 -8.31792148e-02 4.13878615e+01] [ 1.61833616e-01 9.86708548e-01 -1.47010907e-02 7.95252940e+00] [ 8.44625245e-02 9.92872406e-04 9.96426162e-01 3.50162885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:7.96, Z:3.50 [[ 9.80546526e-01 -1.77791568e-01 -8.31785336e-02 4.14464619e+01] [ 1.77182697e-01 9.84068116e-01 -1.47049437e-02 7.95622785e+00] [ 8.44677578e-02 -3.18915420e-04 9.96426162e-01 3.50145903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597105680999995 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:7.96, Z:3.50 [[ 9.79063531e-01 -1.85786672e-01 -8.31740090e-02 4.15035404e+01] [ 1.85204386e-01 9.82589613e-01 -1.47304918e-02 7.96040099e+00] [ 8.44626463e-02 -9.82103972e-04 9.96426162e-01 3.50135597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:7.97, Z:3.51 [[ 9.77887708e-01 -1.91880472e-01 -8.31716024e-02 4.15620766e+01] [ 1.91319003e-01 9.81417165e-01 -1.47440673e-02 7.96720497e+00] [ 8.44551368e-02 -1.49426592e-03 9.96426162e-01 3.50543641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:7.98, Z:3.52 [[ 9.77851699e-01 -1.92065868e-01 -8.31670440e-02 4.16184475e+01] [ 1.91502885e-01 9.81380915e-01 -1.47697352e-02 7.98073039e+00] [ 8.44553118e-02 -1.48411829e-03 9.96426163e-01 3.52140193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777105680999995 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:7.99, Z:3.53 [[ 9.78723148e-01 -1.87576662e-01 -8.31624639e-02 4.16738563e+01] [ 1.86995303e-01 9.82249383e-01 -1.47954792e-02 7.99449593e+00] [ 8.44615655e-02 -1.07031219e-03 9.96426163e-01 3.53098235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837105681 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:8.01, Z:3.54 [[ 9.78790140e-01 -1.87227562e-01 -8.31607025e-02 4.17304011e+01] [ 1.86644105e-01 9.82316028e-01 -1.48053728e-02 8.01326785e+00] [ 8.44620649e-02 -1.03010202e-03 9.96426163e-01 3.54326904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:8.04, Z:3.54 [[ 9.77033149e-01 -1.96190313e-01 -8.31600016e-02 4.17870177e+01] [ 1.95638861e-01 9.80564185e-01 -1.48093087e-02 8.03641288e+00] [ 8.44491621e-02 -1.80014246e-03 9.96426163e-01 3.53578362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957105680999994 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:8.05, Z:3.54 [[ 9.73868711e-01 -2.11339075e-01 -8.31596619e-02 4.18440872e+01] [ 2.10842360e-01 9.77407861e-01 -1.48112163e-02 8.05372995e+00] [ 8.44110960e-02 -3.10939929e-03 9.96426163e-01 3.53833475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:41.90, Y:8.07, Z:3.55 [[ 9.70695689e-01 -2.25465006e-01 -8.31589425e-02 4.19011488e+01] [ 2.25019415e-01 9.74241639e-01 -1.48152540e-02 8.07382411e+00] [ 8.43572258e-02 -4.33127346e-03 9.96426163e-01 3.54518289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:8.10, Z:3.56 [[ 9.69803573e-01 -2.29271811e-01 -8.31592809e-02 4.19586761e+01] [ 2.28840298e-01 9.73351264e-01 -1.48133547e-02 8.10048849e+00] [ 8.43394758e-02 -4.66415033e-03 9.96426163e-01 3.55849192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137105680999994 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:8.13, Z:3.56 [[ 9.73739947e-01 -2.11931179e-01 -8.31606294e-02 4.20167563e+01] [ 2.11437080e-01 9.77279464e-01 -1.48057803e-02 8.12856804e+00] [ 8.44089818e-02 -3.16626089e-03 9.96426163e-01 3.56068568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197105681 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:8.16, Z:3.57 [[ 9.77249263e-01 -1.95109979e-01 -8.31623346e-02 4.20745903e+01] [ 1.94555738e-01 9.80779862e-01 -1.47961962e-02 8.15686460e+00] [ 8.44508286e-02 -1.72013758e-03 9.96426163e-01 3.57109866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:8.18, Z:3.58 [[ 9.81268129e-01 -1.73771839e-01 -8.31637365e-02 4.21342276e+01] [ 1.73141475e-01 9.84785934e-01 -1.47883125e-02 8.18319667e+00] [ 8.44682702e-02 1.12207762e-04 9.96426163e-01 3.57639209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317105680999994 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:8.20, Z:3.57 [[ 9.80839143e-01 -1.76175958e-01 -8.31661378e-02 4.21942986e+01] [ 1.75555363e-01 9.84358685e-01 -1.47747961e-02 8.20179311e+00] [ 8.44682738e-02 -1.08563169e-04 9.96426163e-01 3.56951873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377105680999996 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:8.21, Z:3.57 [[ 9.77315774e-01 -1.94774629e-01 -8.31668330e-02 4.22550263e+01] [ 1.94221330e-01 9.80846520e-01 -1.47708818e-02 8.21352675e+00] [ 8.44508917e-02 -1.71695719e-03 9.96426163e-01 3.57274236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437105681 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:8.23, Z:3.58 [[ 9.75526706e-01 -2.03545145e-01 -8.31686220e-02 4.23144510e+01] [ 2.03024440e-01 9.79062406e-01 -1.47608016e-02 8.23202470e+00] [ 8.44317607e-02 -2.48570674e-03 9.96426163e-01 3.57976659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters Centerline goodness : 0.998616 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:8.25, Z:3.59 [[ 9.76767473e-01 -1.97504523e-01 -8.31701130e-02 4.23724764e+01] [ 1.96962664e-01 9.80299993e-01 -1.47523959e-02 8.25051560e+00] [ 8.44453260e-02 -1.97174659e-03 9.96426163e-01 3.58641157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557105680999996 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:8.26, Z:3.59 [[ 9.77638568e-01 -1.93146190e-01 -8.31707821e-02 4.24339098e+01] [ 1.92588903e-01 9.81168687e-01 -1.47486222e-02 8.26409725e+00] [ 8.44532073e-02 -1.59894778e-03 9.96426163e-01 3.58749953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617105681 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:8.27, Z:3.60 [[ 9.74735617e-01 -2.07298858e-01 -8.31724737e-02 4.24947097e+01] [ 2.06793620e-01 9.78273560e-01 -1.47390769e-02 8.27339405e+00] [ 8.44208258e-02 -2.83283372e-03 9.96426163e-01 3.59730800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:8.28, Z:3.60 [[ 9.74462294e-01 -2.08579334e-01 -8.31739135e-02 4.25562124e+01] [ 2.08079437e-01 9.78000995e-01 -1.47309474e-02 8.27863639e+00] [ 8.44167414e-02 -2.95202831e-03 9.96426163e-01 3.60494289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737105680999996 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:8.29, Z:3.61 [[ 9.77487006e-01 -1.93909273e-01 -8.31766029e-02 4.26167223e+01] [ 1.93357538e-01 9.81017996e-01 -1.47157462e-02 8.28701940e+00] [ 8.44512640e-02 -1.69837252e-03 9.96426164e-01 3.61049197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797105681 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:42.68, Y:8.30, Z:3.62 [[ 9.83639796e-01 -1.59793414e-01 -8.31794299e-02 4.26773675e+01] [ 1.59120552e-01 9.87149719e-01 -1.46997496e-02 8.30395016e+00] [ 8.44594740e-02 1.22370189e-03 9.96426164e-01 3.61644055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:42.74, Y:8.32, Z:3.62 [[ 9.84862249e-01 -1.52076319e-01 -8.31813906e-02 4.27379295e+01] [ 1.51376895e-01 9.88366976e-01 -1.46886463e-02 8.31600901e+00] [ 8.44475348e-02 1.87455265e-03 9.96426164e-01 3.62066920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917105680999995 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:42.80, Y:8.32, Z:3.62 [[ 9.84535337e-01 -1.54177798e-01 -8.31827926e-02 4.27995072e+01] [ 1.53486526e-01 9.88041681e-01 -1.46807024e-02 8.32052102e+00] [ 8.44515046e-02 1.68623240e-03 9.96426164e-01 3.62338320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977105681 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:42.86, Y:8.32, Z:3.63 [[ 9.82642482e-01 -1.65813761e-01 -8.31838329e-02 4.28620721e+01] [ 1.65164516e-01 9.86156850e-01 -1.46748057e-02 8.32331404e+00] [ 8.44655913e-02 6.81070037e-04 9.96426164e-01 3.63401312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:42.93, Y:8.32, Z:3.64 [[ 9.81010844e-01 -1.75207972e-01 -8.31858814e-02 4.29264182e+01] [ 1.74593367e-01 9.84531435e-01 -1.46631842e-02 8.31777636e+00] [ 8.44682220e-02 -1.38960406e-04 9.96426164e-01 3.63525219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097105680999995 meters Centerline goodness : 0.998221 with order 1 Centerline is valid? [True, True] Translation: X:42.99, Y:8.32, Z:3.64 [[ 9.78508776e-01 -1.88680832e-01 -8.31872492e-02 4.29894516e+01] [ 1.88115355e-01 9.82037592e-01 -1.46554201e-02 8.31786980e+00] [ 8.44582028e-02 -1.30834167e-03 9.96426164e-01 3.64333871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157105681 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:43.05, Y:8.32, Z:3.64 [[ 9.75795416e-01 -2.02244794e-01 -8.31886355e-02 4.30518572e+01] [ 2.01729023e-01 9.79331839e-01 -1.46475472e-02 8.31758730e+00] [ 8.44316695e-02 -2.48855281e-03 9.96426164e-01 3.63892990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:8.32, Z:3.64 [[ 9.73601832e-01 -2.12553418e-01 -8.31896491e-02 4.31152680e+01] [ 2.12075569e-01 9.77143578e-01 -1.46417879e-02 8.31887989e+00] [ 8.44003934e-02 -3.38722062e-03 9.96426164e-01 3.64068031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277105680999995 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:8.33, Z:3.65 [[ 9.73742746e-01 -2.11906410e-01 -8.31909704e-02 4.31753728e+01] [ 2.11426848e-01 9.77284261e-01 -1.46342769e-02 8.33212124e+00] [ 8.44023231e-02 -3.33878363e-03 9.96426164e-01 3.64956686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337105681 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:8.35, Z:3.66 [[ 9.74871476e-01 -2.06651014e-01 -8.31923324e-02 4.32356231e+01] [ 2.06153016e-01 9.78410445e-01 -1.46265303e-02 8.34809105e+00] [ 8.44188343e-02 -2.89136303e-03 9.96426164e-01 3.65666344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters Centerline goodness : 0.998467 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:8.37, Z:3.67 [[ 9.73583603e-01 -2.12635309e-01 -8.31937051e-02 4.32937844e+01] [ 2.12159726e-01 9.77125654e-01 -1.46187186e-02 8.37013101e+00] [ 8.43991592e-02 -3.41780888e-03 9.96426164e-01 3.66862394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457105680999994 meters Centerline goodness : 0.998300 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:8.39, Z:3.67 [[ 9.72971547e-01 -2.15418061e-01 -8.31951192e-02 4.33523860e+01] [ 2.14953294e-01 9.76515033e-01 -1.46106666e-02 8.38925385e+00] [ 8.43886860e-02 -3.66730208e-03 9.96426164e-01 3.67266347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517105681 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:8.41, Z:3.68 [[ 9.71763897e-01 -2.20801403e-01 -8.31965644e-02 4.34108115e+01] [ 2.20356964e-01 9.75309990e-01 -1.46024324e-02 8.40966425e+00] [ 8.43666780e-02 -4.14282575e-03 9.96426164e-01 3.68378611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:43.47, Y:8.44, Z:3.69 [[ 9.74916923e-01 -2.06434349e-01 -8.31976722e-02 4.34680689e+01] [ 2.05938157e-01 9.78456146e-01 -1.45961180e-02 8.43791405e+00] [ 8.44184138e-02 -2.90357285e-03 9.96426164e-01 3.69366876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637105680999994 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:43.53, Y:8.46, Z:3.69 [[ 9.76460356e-01 -1.99005065e-01 -8.31995029e-02 4.35263874e+01] [ 1.98482828e-01 9.79995829e-01 -1.45856754e-02 8.45938793e+00] [ 8.44377891e-02 -2.27133877e-03 9.96426164e-01 3.69494555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697105681 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:43.59, Y:8.48, Z:3.69 [[ 9.79646117e-01 -1.82677706e-01 -8.32006052e-02 4.35862740e+01] [ 1.82097059e-01 9.83172468e-01 -1.45793850e-02 8.48140230e+00] [ 8.44638730e-02 -8.67947602e-04 9.96426164e-01 3.68727369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:43.65, Y:8.50, Z:3.69 [[ 9.80412407e-01 -1.78517261e-01 -8.32051639e-02 4.36452076e+01] [ 1.77923861e-01 9.83936634e-01 -1.45533220e-02 8.49979124e+00] [ 8.44666281e-02 -5.35926609e-04 9.96426165e-01 3.68797822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817105680999994 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:43.71, Y:8.51, Z:3.69 [[ 9.80779056e-01 -1.76489812e-01 -8.32093151e-02 4.37061264e+01] [ 1.75891144e-01 9.84302391e-01 -1.45295486e-02 8.51089560e+00] [ 8.44674451e-02 -3.85504707e-04 9.96426165e-01 3.69162176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877105680999996 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:43.77, Y:8.52, Z:3.70 [[ 9.79546543e-01 -1.83206268e-01 -8.32107790e-02 4.37659042e+01] [ 1.82632469e-01 9.83074014e-01 -1.45211598e-02 8.52292228e+00] [ 8.44627220e-02 -9.72838153e-04 9.96426165e-01 3.69557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937105681 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:43.83, Y:8.53, Z:3.71 [[ 9.78116470e-01 -1.90692553e-01 -8.32137112e-02 4.38276239e+01] [ 1.90147180e-01 9.81648447e-01 -1.45043376e-02 8.52739550e+00] [ 8.44524795e-02 -1.63592107e-03 9.96426165e-01 3.70585573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997105680999994 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:43.89, Y:8.54, Z:3.71 [[ 9.74887635e-01 -2.06565456e-01 -8.32154560e-02 4.38886395e+01] [ 2.06078417e-01 9.78428127e-01 -1.44943201e-02 8.53583244e+00] [ 8.44143686e-02 -3.01857605e-03 9.96426165e-01 3.71174899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057105680999996 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:8.54, Z:3.72 [[ 9.72849493e-01 -2.15960226e-01 -8.32168547e-02 4.39486911e+01] [ 2.15508050e-01 9.76394607e-01 -1.44862852e-02 8.54287534e+00] [ 8.43809495e-02 -3.84092681e-03 9.96426165e-01 3.72084149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117105681 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:8.56, Z:3.73 [[ 9.72083183e-01 -2.19382270e-01 -8.32208211e-02 4.40085177e+01] [ 2.18944520e-01 9.75630107e-01 -1.44634631e-02 8.55599202e+00] [ 8.43657660e-02 -4.16105350e-03 9.96426165e-01 3.72947554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:44.07, Y:8.57, Z:3.73 [[ 9.73625456e-01 -2.12431236e-01 -8.32252489e-02 4.40709093e+01] [ 2.11970333e-01 9.77169445e-01 -1.44379401e-02 8.56739050e+00] [ 8.43922397e-02 -3.58413771e-03 9.96426166e-01 3.73430021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237105680999996 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:44.13, Y:8.59, Z:3.74 [[ 9.78835631e-01 -1.86958637e-01 -8.32302606e-02 4.41294172e+01] [ 1.86407895e-01 9.82366774e-01 -1.44089910e-02 8.58821328e+00] [ 8.44565279e-02 -1.41074385e-03 9.96426166e-01 3.74321561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297105681 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:44.19, Y:8.61, Z:3.74 [[ 9.84796875e-01 -1.52469894e-01 -8.32348887e-02 4.41889164e+01] [ 1.51797752e-01 9.88306933e-01 -1.43822071e-02 8.61042622e+00] [ 8.44544712e-02 1.52868363e-03 9.96426167e-01 3.74341871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:44.25, Y:8.62, Z:3.74 [[ 9.85308921e-01 -1.49122450e-01 -8.32395617e-02 4.42496377e+01] [ 1.48440672e-01 9.88817120e-01 -1.43551103e-02 8.62042451e+00] [ 8.44493729e-02 1.78808176e-03 9.96426167e-01 3.74099202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417105680999995 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:8.63, Z:3.74 [[ 9.83686545e-01 -1.59471756e-01 -8.32438607e-02 4.43116435e+01] [ 1.58829006e-01 9.87202104e-01 -1.43301378e-02 8.62562479e+00] [ 8.44637666e-02 8.74824048e-04 9.96426167e-01 3.74217233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477105681 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:8.63, Z:3.75 [[ 9.81318487e-01 -1.73446595e-01 -8.32484532e-02 4.43744244e+01] [ 1.72856180e-01 9.84843213e-01 -1.43034087e-02 8.62519539e+00] [ 8.44675516e-02 -3.53810231e-04 9.96426168e-01 3.74758858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:8.63, Z:3.75 [[ 9.81324158e-01 -1.73413853e-01 -8.32498224e-02 4.44358333e+01] [ 1.72823997e-01 9.84848976e-01 -1.42954350e-02 8.62922265e+00] [ 8.44675289e-02 -3.59111382e-04 9.96426168e-01 3.75093817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597105680999995 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:8.63, Z:3.76 [[ 9.81496064e-01 -1.72437573e-01 -8.32511802e-02 4.44972251e+01] [ 1.71844882e-01 9.85020407e-01 -1.42875232e-02 8.63404959e+00] [ 8.44678173e-02 -2.83141417e-04 9.96426168e-01 3.76489188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657105681 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:8.64, Z:3.77 [[ 9.78985231e-01 -1.86163709e-01 -8.32525795e-02 4.45592277e+01] [ 1.85621117e-01 9.82517634e-01 -1.42793650e-02 8.63758372e+00] [ 8.44554270e-02 -1.47414935e-03 9.96426168e-01 3.77224332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters Centerline goodness : 0.998413 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:8.64, Z:3.78 [[ 9.73414461e-01 -2.13384799e-01 -8.32539108e-02 4.46226304e+01] [ 2.12941563e-01 9.76960701e-01 -1.42715989e-02 8.63513659e+00] [ 8.43811414e-02 -3.83603709e-03 9.96426168e-01 3.77632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777105680999995 meters Centerline goodness : 0.997949 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:8.64, Z:3.78 [[ 9.72744964e-01 -2.16415817e-01 -8.32552062e-02 4.46846684e+01] [ 2.15984274e-01 9.76292646e-01 -1.42640382e-02 8.64347662e+00] [ 8.43684090e-02 -4.10654399e-03 9.96426168e-01 3.78033916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837105681 meters Centerline goodness : 0.997638 with order 1 Centerline is valid? [True, True] Translation: X:44.75, Y:8.65, Z:3.79 [[ 9.71900476e-01 -2.20176375e-01 -8.32576027e-02 4.47456807e+01] [ 2.19759753e-01 9.75449941e-01 -1.42500359e-02 8.65383239e+00] [ 8.43511449e-02 -4.44705352e-03 9.96426168e-01 3.78809576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:8.67, Z:3.80 [[ 9.73810527e-01 -2.11567165e-01 -8.32609833e-02 4.48056791e+01] [ 2.11120837e-01 9.77356379e-01 -1.42302563e-02 8.66827645e+00] [ 8.43863082e-02 -3.72055512e-03 9.96426168e-01 3.79538823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957105680999994 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:8.69, Z:3.81 [[ 9.74949845e-01 -2.06252457e-01 -8.32629828e-02 4.48640390e+01] [ 2.05787794e-01 9.78493340e-01 -1.42185473e-02 8.69125239e+00] [ 8.44048845e-02 -3.27213503e-03 9.96426168e-01 3.81106651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017105681 meters Centerline goodness : 0.997704 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:8.72, Z:3.82 [[ 9.79248914e-01 -1.84766336e-01 -8.32644291e-02 4.49235494e+01] [ 1.84224594e-01 9.82781447e-01 -1.42100732e-02 8.71795049e+00] [ 8.44562792e-02 -1.42415693e-03 9.96426168e-01 3.81838301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:8.74, Z:3.82 [[ 9.81855354e-01 -1.70370833e-01 -8.32697036e-02 4.49837075e+01] [ 1.69779918e-01 9.85379994e-01 -1.41790975e-02 8.73514879e+00] [ 8.44680047e-02 -2.15700623e-04 9.96426169e-01 3.81821899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137105680999994 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:8.74, Z:3.81 [[ 9.82288837e-01 -1.67851242e-01 -8.32742582e-02 4.50467746e+01] [ 1.67253558e-01 9.85812335e-01 -1.41522978e-02 8.74141310e+00] [ 8.44682717e-02 -2.62717525e-05 9.96426169e-01 3.81314100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197105681 meters Centerline goodness : 0.997753 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:8.75, Z:3.81 [[ 9.80687804e-01 -1.76965001e-01 -8.32755639e-02 4.51093456e+01] [ 1.76400713e-01 9.84216805e-01 -1.41446105e-02 8.74725390e+00] [ 8.44643104e-02 -8.18421809e-04 9.96426169e-01 3.81373719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters Centerline goodness : 0.997925 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:8.75, Z:3.81 [[ 9.80217150e-01 -1.79553064e-01 -8.32768628e-02 4.51718227e+01] [ 1.78998742e-01 9.83747730e-01 -1.41369592e-02 8.75077189e+00] [ 8.44617591e-02 -1.04916381e-03 9.96426169e-01 3.81125179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317105680999994 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:8.76, Z:3.81 [[ 9.79150502e-01 -1.85280794e-01 -8.32785738e-02 4.52337020e+01] [ 1.84747982e-01 9.82684392e-01 -1.41268730e-02 8.75882978e+00] [ 8.44539929e-02 -1.55321363e-03 9.96426169e-01 3.80990384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377105680999996 meters Centerline goodness : 0.997503 with order 1 Centerline is valid? [True, True] Translation: X:45.29, Y:8.77, Z:3.82 [[ 9.79190192e-01 -1.85070309e-01 -8.32799435e-02 4.52949607e+01] [ 1.84537424e-01 9.82724071e-01 -1.41187933e-02 8.76959078e+00] [ 8.44541746e-02 -1.54328231e-03 9.96426169e-01 3.81879198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437105681 meters Centerline goodness : 0.997799 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:8.78, Z:3.83 [[ 9.79466160e-01 -1.83603457e-01 -8.32815172e-02 4.53559960e+01] [ 1.83066069e-01 9.82999357e-01 -1.41095050e-02 8.77525989e+00] [ 8.44562317e-02 -1.42623723e-03 9.96426169e-01 3.82915250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497105680999994 meters Centerline goodness : 0.997146 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:8.78, Z:3.84 [[ 9.78312189e-01 -1.89654296e-01 -8.32857023e-02 4.54171850e+01] [ 1.89140863e-01 9.81848946e-01 -1.40847575e-02 8.78000192e+00] [ 8.44452139e-02 -1.97343964e-03 9.96426170e-01 3.84359854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557105680999996 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:8.79, Z:3.85 [[ 9.77725056e-01 -1.92657681e-01 -8.32870499e-02 4.54798288e+01] [ 1.92155790e-01 9.81263470e-01 -1.40767847e-02 8.78742717e+00] [ 8.44385402e-02 -2.24086374e-03 9.96426170e-01 3.84887351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617105681 meters Centerline goodness : 0.997487 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:8.79, Z:3.85 [[ 9.78354298e-01 -1.89435484e-01 -8.32890442e-02 4.55418908e+01] [ 1.88922943e-01 9.81891184e-01 -1.40649750e-02 8.79368035e+00] [ 8.44451836e-02 -1.97468266e-03 9.96426170e-01 3.85112859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67710568099999 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:8.81, Z:3.86 [[ 9.81419686e-01 -1.72852881e-01 -8.32903410e-02 4.56026015e+01] [ 1.72281216e-01 9.84947499e-01 -1.40572915e-02 8.80936278e+00] [ 8.44664563e-02 -5.53258593e-04 9.96426170e-01 3.85789228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737105680999996 meters Centerline goodness : 0.997521 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:8.82, Z:3.86 [[ 9.85294843e-01 -1.49186009e-01 -8.32923011e-02 4.56628829e+01] [ 1.48530598e-01 9.88808061e-01 -1.40456676e-02 8.81774910e+00] [ 8.44555158e-02 1.46766858e-03 9.96426170e-01 3.85914759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797105681 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:8.82, Z:3.86 [[ 9.86410064e-01 -1.41623461e-01 -8.32945417e-02 4.57257666e+01] [ 1.40942242e-01 9.89918369e-01 -1.40323677e-02 8.82367177e+00] [ 8.44421093e-02 2.10194932e-03 9.96426170e-01 3.85769205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters Centerline goodness : 0.997691 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:8.82, Z:3.86 [[ 9.86710387e-01 -1.39514737e-01 -8.32961549e-02 4.57886799e+01] [ 1.38826829e-01 9.90217387e-01 -1.40227849e-02 8.81754259e+00] [ 8.44376860e-02 2.27268651e-03 9.96426170e-01 3.85994490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917105680999995 meters Centerline goodness : 0.998023 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:8.81, Z:3.86 [[ 9.85883058e-01 -1.45245262e-01 -8.32971157e-02 4.58536007e+01] [ 1.44578224e-01 9.89394087e-01 -1.40170754e-02 8.81267372e+00] [ 8.44495875e-02 1.77624809e-03 9.96426170e-01 3.86491915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977105681 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:8.81, Z:3.87 [[ 9.83633989e-01 -1.59766777e-01 -8.32991760e-02 4.59173409e+01] [ 1.59152621e-01 9.87154653e-01 -1.40048214e-02 8.80598810e+00] [ 8.44666743e-02 5.18336160e-04 9.96426170e-01 3.86728306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:8.80, Z:3.87 [[ 9.81229223e-01 -1.73925954e-01 -8.33005102e-02 4.59793101e+01] [ 1.73363274e-01 9.84758479e-01 -1.39968807e-02 8.80267063e+00] [ 8.44653046e-02 -7.07100847e-04 9.96426170e-01 3.87326678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097105680999995 meters Centerline goodness : 0.997887 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:8.80, Z:3.88 [[ 9.81422536e-01 -1.72831329e-01 -8.33014852e-02 4.60410698e+01] [ 1.72265206e-01 9.84951242e-01 -1.39910760e-02 8.80375714e+00] [ 8.44659975e-02 -6.18790180e-04 9.96426170e-01 3.87537823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157105681 meters Centerline goodness : 0.998190 with order 1 Centerline is valid? [True, True] Translation: X:46.10, Y:8.81, Z:3.88 [[ 9.81730108e-01 -1.71075127e-01 -8.33024395e-02 4.61026803e+01] [ 1.70503173e-01 9.85257873e-01 -1.39853920e-02 8.80863327e+00] [ 8.44669370e-02 -4.73449879e-04 9.96426170e-01 3.87882156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:8.81, Z:3.89 [[ 9.80235256e-01 -1.79441993e-01 -8.33031504e-02 4.61622158e+01] [ 1.78900508e-01 9.83767826e-01 -1.39811560e-02 8.81291503e+00] [ 8.44597657e-02 -1.19815392e-03 9.96426170e-01 3.89118421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277105680999995 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:8.82, Z:3.90 [[ 9.79226774e-01 -1.84866040e-01 -8.33034918e-02 4.62220216e+01] [ 1.84344293e-01 9.82762314e-01 -1.39791214e-02 8.82009284e+00] [ 8.44517972e-02 -1.66779333e-03 9.96426170e-01 3.89649182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337105681 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:46.28, Y:8.83, Z:3.90 [[ 9.77901185e-01 -1.91754392e-01 -8.33038092e-02 4.62827258e+01] [ 1.91257706e-01 9.81440333e-01 -1.39772300e-02 8.82927394e+00] [ 8.44379134e-02 -2.26414573e-03 9.96426170e-01 3.90285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:8.84, Z:3.91 [[ 9.76664776e-01 -1.97955252e-01 -8.33044592e-02 4.63416706e+01] [ 1.97481362e-01 9.80207048e-01 -1.39733545e-02 8.84134530e+00] [ 8.44217170e-02 -2.80379493e-03 9.96426170e-01 3.91381711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457105680999994 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:8.85, Z:3.90 [[ 9.75933987e-01 -2.01527084e-01 -8.33047908e-02 4.64015835e+01] [ 2.01066326e-01 9.79477990e-01 -1.39713776e-02 8.85141380e+00] [ 8.44108201e-02 -3.11464595e-03 9.96426170e-01 3.90224197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517105681 meters Centerline goodness : 0.997875 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:8.87, Z:3.92 [[ 9.75708662e-01 -2.02615465e-01 -8.33041380e-02 4.64602207e+01] [ 2.02158328e-01 9.79253135e-01 -1.39752691e-02 8.86896126e+00] [ 8.44074439e-02 -3.20483406e-03 9.96426170e-01 3.91541475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:8.88, Z:3.93 [[ 9.73753267e-01 -2.11813289e-01 -8.33048999e-02 4.65195792e+01] [ 2.11390006e-01 9.77301941e-01 -1.39707259e-02 8.88408868e+00] [ 8.43732258e-02 -4.00578324e-03 9.96426170e-01 3.92681614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637105680999994 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:8.90, Z:3.93 [[ 9.72358435e-01 -2.18126424e-01 -8.33062844e-02 4.65784844e+01] [ 2.17726879e-01 9.75909861e-01 -1.39624653e-02 8.90186358e+00] [ 8.43450070e-02 -4.56149634e-03 9.96426170e-01 3.93127523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697105681 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:8.92, Z:3.93 [[ 9.72237120e-01 -2.18666015e-01 -8.33075987e-02 4.66390418e+01] [ 2.18269111e-01 9.75788842e-01 -1.39546192e-02 8.91897764e+00] [ 8.43420262e-02 -4.61627670e-03 9.96426170e-01 3.93417595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:46.70, Y:8.95, Z:3.93 [[ 9.71896216e-01 -2.20175759e-01 -8.33089418e-02 4.66970814e+01] [ 2.19785057e-01 9.75448626e-01 -1.39465959e-02 8.94828587e+00] [ 8.43342952e-02 -4.75541674e-03 9.96426170e-01 3.93475020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817105680999994 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:46.76, Y:8.97, Z:3.94 [[ 9.71072442e-01 -2.23780359e-01 -8.33106477e-02 4.67550925e+01] [ 2.23403712e-01 9.74626369e-01 -1.39363987e-02 8.97104921e+00] [ 8.43154463e-02 -5.07865520e-03 9.96426170e-01 3.93763781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877105680999996 meters Centerline goodness : 0.996982 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:8.99, Z:3.94 [[ 9.69771319e-01 -2.29352904e-01 -8.33116746e-02 4.68135049e+01] [ 2.28997196e-01 9.73327402e-01 -1.39302567e-02 8.99409542e+00] [ 8.42844807e-02 -5.56897650e-03 9.96426170e-01 3.94017061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937105681 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:9.02, Z:3.95 [[ 9.69461652e-01 -2.30658017e-01 -8.33125729e-02 4.68723457e+01] [ 2.30307556e-01 9.73018256e-01 -1.39248826e-02 9.01506341e+00] [ 8.42765402e-02 -5.68787543e-03 9.96426170e-01 3.94629366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997105680999994 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:46.93, Y:9.05, Z:3.95 [[ 9.73914696e-01 -2.11066263e-01 -8.33138552e-02 4.69292375e+01] [ 2.10644825e-01 9.77463590e-01 -1.39172063e-02 9.04581666e+00] [ 8.43737127e-02 -3.99546076e-03 9.96426170e-01 3.95224743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057105680999996 meters Centerline goodness : 0.997825 with order 1 Centerline is valid? [True, True] Translation: X:46.99, Y:9.07, Z:3.96 [[ 9.78401872e-01 -1.89178112e-01 -8.33151778e-02 4.69876518e+01] [ 1.88677889e-01 9.81940521e-01 -1.39092840e-02 9.06842807e+00] [ 8.44418811e-02 -2.11086230e-03 9.96426170e-01 3.96289094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117105681 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:47.05, Y:9.09, Z:3.97 [[ 9.84204024e-01 -1.56207535e-01 -8.33165324e-02 4.70459755e+01] [ 1.55589420e-01 9.87723995e-01 -1.39011650e-02 9.09399666e+00] [ 8.44652050e-02 7.18411543e-04 9.96426170e-01 3.97123552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17710568099999 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:47.11, Y:9.10, Z:3.97 [[ 9.84955449e-01 -1.51394802e-01 -8.33209360e-02 4.71080359e+01] [ 1.50761725e-01 9.88472758e-01 -1.38747205e-02 9.10210124e+00] [ 8.44610360e-02 1.10437352e-03 9.96426171e-01 3.97126181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237105680999996 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:47.17, Y:9.10, Z:3.98 [[ 9.84002608e-01 -1.57468337e-01 -8.33222144e-02 4.71705816e+01] [ 1.56857622e-01 9.87523869e-01 -1.38670393e-02 9.10415021e+00] [ 8.44662951e-02 5.75478506e-04 9.96426171e-01 3.97805283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297105681 meters Centerline goodness : 0.997105 with order 1 Centerline is valid? [True, True] Translation: X:47.23, Y:9.10, Z:3.98 [[ 9.81420434e-01 -1.72832663e-01 -8.33234831e-02 4.72346993e+01] [ 1.72277721e-01 9.84950914e-01 -1.38594116e-02 9.09501714e+00] [ 8.44648999e-02 -7.52870066e-04 9.96426171e-01 3.98374610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters Centerline goodness : 0.997575 with order 1 Centerline is valid? [True, True] Translation: X:47.30, Y:9.09, Z:3.99 [[ 9.78996955e-01 -1.86069707e-01 -8.33248213e-02 4.72974014e+01] [ 1.85563174e-01 9.82534706e-01 -1.38513618e-02 9.09173150e+00] [ 8.44468476e-02 -1.90157732e-03 9.96426171e-01 3.99025749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417105680999995 meters Centerline goodness : 0.997523 with order 1 Centerline is valid? [True, True] Translation: X:47.36, Y:9.09, Z:3.99 [[ 9.76984091e-01 -1.96362827e-01 -8.33290258e-02 4.73611952e+01] [ 1.95895714e-01 9.80527261e-01 -1.38260214e-02 9.08922945e+00] [ 8.44212981e-02 -2.81599609e-03 9.96426171e-01 3.99410862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477105681 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:9.09, Z:4.00 [[ 9.77864145e-01 -1.91931405e-01 -8.33309616e-02 4.74239416e+01] [ 1.91449227e-01 9.81405297e-01 -1.38143445e-02 9.09353870e+00] [ 8.44328536e-02 -2.44509600e-03 9.96426171e-01 3.99753622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters Centerline goodness : 0.997799 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:9.10, Z:4.00 [[ 9.82851847e-01 -1.64492947e-01 -8.33325694e-02 4.74868454e+01] [ 1.63912690e-01 9.86378255e-01 -1.38046385e-02 9.09600265e+00] [ 8.44682001e-02 -9.13511388e-05 9.96426171e-01 4.00397388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597105680999995 meters Centerline goodness : 0.997880 with order 1 Centerline is valid? [True, True] Translation: X:47.55, Y:9.10, Z:4.01 [[ 9.85195473e-01 -1.49817342e-01 -8.33345276e-02 4.75498485e+01] [ 1.49185561e-01 9.88713015e-01 -1.37928075e-02 9.09750199e+00] [ 8.44603338e-02 1.15630334e-03 9.96426171e-01 4.00598895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657105681 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:47.61, Y:9.09, Z:4.01 [[ 9.87257271e-01 -1.35566283e-01 -8.33358479e-02 4.76130768e+01] [ 1.34884414e-01 9.90765448e-01 -1.37848256e-02 9.09264256e+00] [ 8.44350363e-02 2.36846224e-03 9.96426171e-01 4.01366620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters Centerline goodness : 0.997257 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:9.09, Z:4.02 [[ 9.87565883e-01 -1.33298704e-01 -8.33371587e-02 4.76768135e+01] [ 1.32609449e-01 9.91072616e-01 -1.37768969e-02 9.08751488e+00] [ 8.44296184e-02 2.55429862e-03 9.96426171e-01 4.02257348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777105680999995 meters Centerline goodness : 0.997529 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:9.08, Z:4.03 [[ 9.87480319e-01 -1.33930272e-01 -8.33384751e-02 4.77399967e+01] [ 1.33243932e-01 9.90987624e-01 -1.37689292e-02 9.07691620e+00] [ 8.44314738e-02 2.49220047e-03 9.96426171e-01 4.02537849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837105681 meters Centerline goodness : 0.997774 with order 1 Centerline is valid? [True, True] Translation: X:47.80, Y:9.07, Z:4.03 [[ 9.88127106e-01 -1.29071559e-01 -8.33387965e-02 4.78021737e+01] [ 1.28368140e-01 9.91631026e-01 -1.37669831e-02 9.07022320e+00] [ 8.44182623e-02 2.90548291e-03 9.96426171e-01 4.03158023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters Centerline goodness : 0.997479 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:9.06, Z:4.04 [[ 9.88657415e-01 -1.24944631e-01 -8.33387965e-02 4.78637081e+01] [ 1.24226588e-01 9.92158367e-01 -1.37669831e-02 9.06359853e+00] [ 8.44053949e-02 3.25793560e-03 9.96426171e-01 4.03680395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957105680999994 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:9.04, Z:4.04 [[ 9.89105997e-01 -1.21342832e-01 -8.33381333e-02 4.79259801e+01] [ 1.20611705e-01 9.92604240e-01 -1.37709970e-02 9.04397004e+00] [ 8.43927962e-02 3.56942141e-03 9.96426171e-01 4.03705563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:9.03, Z:4.05 [[ 9.88241655e-01 -1.28193049e-01 -8.33365035e-02 4.79864284e+01] [ 1.27485347e-01 9.91744712e-01 -1.37808525e-02 9.03486437e+00] [ 8.44151462e-02 2.99462938e-03 9.96426172e-01 4.04959143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:9.02, Z:4.06 [[ 9.85189288e-01 -1.49859415e-01 -8.33319962e-02 4.80490838e+01] [ 1.49226495e-01 9.88706625e-01 -1.38080548e-02 9.01592364e+00] [ 8.44601637e-02 1.16820599e-03 9.96426172e-01 4.05853638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137105680999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.11, Y:9.01, Z:4.06 [[ 9.82467754e-01 -1.66774126e-01 -8.33276861e-02 4.81082150e+01] [ 1.66199565e-01 9.85995094e-01 -1.38340164e-02 9.01201749e+00] [ 8.44678456e-02 -2.57550174e-04 9.96426172e-01 4.05970838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:9.01, Z:4.07 [[ 9.82535327e-01 -1.66378026e-01 -8.33227709e-02 4.81671270e+01] [ 1.65799538e-01 9.86062024e-01 -1.38635580e-02 9.01344721e+00] [ 8.44680115e-02 -1.93441473e-04 9.96426173e-01 4.06882634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:9.02, Z:4.08 [[ 9.86823055e-01 -1.38702704e-01 -8.33175670e-02 4.82240751e+01] [ 1.38022710e-01 9.90331595e-01 -1.38947622e-02 9.02258916e+00] [ 8.44392601e-02 2.21195527e-03 9.96426173e-01 4.07821157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.28, Y:9.03, Z:4.09 [[ 9.88790063e-01 -1.23905874e-01 -8.33159335e-02 4.82819190e+01] [ 1.23172580e-01 9.92287851e-01 -1.39045502e-02 9.02648555e+00] [ 8.43962441e-02 3.48644258e-03 9.96426173e-01 4.09000947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.34, Y:9.03, Z:4.10 [[ 9.88971235e-01 -1.22454609e-01 -8.33112497e-02 4.83406205e+01] [ 1.21713827e-01 9.92467444e-01 -1.39325579e-02 9.02751959e+00] [ 8.43898090e-02 3.63876797e-03 9.96426174e-01 4.09730701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:48.40, Y:9.02, Z:4.09 [[ 9.89780866e-01 -1.15731816e-01 -8.33065693e-02 4.84022485e+01] [ 1.14964950e-01 9.93271446e-01 -1.39604873e-02 9.02164738e+00] [ 8.43617091e-02 4.24048768e-03 9.96426174e-01 4.08915520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.46, Y:9.02, Z:4.10 [[ 9.89926126e-01 -1.14483135e-01 -8.33059194e-02 4.84616788e+01] [ 1.13711541e-01 9.93415664e-01 -1.39643646e-02 9.02144305e+00] [ 8.43560895e-02 4.35084492e-03 9.96426174e-01 4.09573577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:9.03, Z:4.10 [[ 9.89578013e-01 -1.17457552e-01 -8.33011440e-02 4.85195505e+01] [ 1.16694061e-01 9.93069332e-01 -1.39927933e-02 9.02514704e+00] [ 8.43673707e-02 4.12621185e-03 9.96426174e-01 4.10026817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:9.02, Z:4.11 [[ 9.88546368e-01 -1.25848753e-01 -8.32956801e-02 4.85800191e+01] [ 1.25112180e-01 9.92043464e-01 -1.40252438e-02 9.01965335e+00] [ 8.43979945e-02 3.44329972e-03 9.96426175e-01 4.10605898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:9.02, Z:4.11 [[ 9.86673412e-01 -1.39779079e-01 -8.32909815e-02 4.86409650e+01] [ 1.39089554e-01 9.90180088e-01 -1.40530920e-02 9.01526435e+00] [ 8.44373996e-02 2.28090676e-03 9.96426175e-01 4.10887634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:9.02, Z:4.12 [[ 9.84361027e-01 -1.55231129e-01 -8.32866414e-02 4.87001159e+01] [ 1.54594495e-01 9.87877690e-01 -1.40787670e-02 9.01526620e+00] [ 8.44624778e-02 9.82933290e-04 9.96426176e-01 4.11556743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:9.02, Z:4.11 [[ 9.83660688e-01 -1.59611276e-01 -8.32819996e-02 4.87581655e+01] [ 1.58987982e-01 9.87179739e-01 -1.41061721e-02 9.01899024e+00] [ 8.44658068e-02 6.34849869e-04 9.96426176e-01 4.11494451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:9.03, Z:4.13 [[ 9.81881468e-01 -1.70215051e-01 -8.32803713e-02 4.88144426e+01] [ 1.69628946e-01 9.85406903e-01 -1.41157787e-02 9.03338270e+00] [ 8.44677708e-02 -2.66740103e-04 9.96426176e-01 4.13102284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:9.05, Z:4.14 [[ 9.79483095e-01 -1.83515772e-01 -8.32756165e-02 4.88710938e+01] [ 1.82975154e-01 9.83015792e-01 -1.41437745e-02 9.04650207e+00] [ 8.44568517e-02 -1.38378076e-03 9.96426177e-01 4.14049745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:9.07, Z:4.15 [[ 9.77594557e-01 -1.93325697e-01 -8.32709837e-02 4.89268113e+01] [ 1.92818204e-01 9.81132164e-01 -1.41709972e-02 9.06849255e+00] [ 8.44394584e-02 -2.20267182e-03 9.96426177e-01 4.14804562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:9.09, Z:4.15 [[ 9.78180622e-01 -1.90340204e-01 -8.32663018e-02 4.89822406e+01] [ 1.89819577e-01 9.81716320e-01 -1.41984544e-02 9.09173170e+00] [ 8.44464241e-02 -1.91692125e-03 9.96426177e-01 4.15491720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:9.12, Z:4.15 [[ 9.77898196e-01 -1.91787961e-01 -8.32616109e-02 4.90369607e+01] [ 1.91270231e-01 9.81434319e-01 -1.42259099e-02 9.12264750e+00] [ 8.44441606e-02 -2.01397589e-03 9.96426178e-01 4.15074916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:9.15, Z:4.16 [[ 9.76825075e-01 -1.97181383e-01 -8.32602898e-02 4.90910234e+01] [ 1.96682517e-01 9.80363907e-01 -1.42336376e-02 9.14845355e+00] [ 8.44319914e-02 -2.47206930e-03 9.96426178e-01 4.15558505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:9.17, Z:4.16 [[ 9.76080955e-01 -2.00834676e-01 -8.32550422e-02 4.91476573e+01] [ 2.00346444e-01 9.79621270e-01 -1.42642659e-02 9.17060118e+00] [ 8.44231694e-02 -2.75677336e-03 9.96426178e-01 4.15554339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:9.20, Z:4.17 [[ 9.75620551e-01 -2.03060411e-01 -8.32526856e-02 4.92009006e+01] [ 2.02579083e-01 9.79161812e-01 -1.42780070e-02 9.20438706e+00] [ 8.44171484e-02 -2.93533568e-03 9.96426178e-01 4.16894432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.26, Y:9.23, Z:4.17 [[ 9.75959628e-01 -2.01424832e-01 -8.32516739e-02 4.92559934e+01] [ 2.00937067e-01 9.79500008e-01 -1.42839034e-02 9.22788383e+00] [ 8.44221481e-02 -2.78783417e-03 9.96426178e-01 4.17245071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:9.25, Z:4.18 [[ 9.75946105e-01 -2.01491028e-01 -8.32500213e-02 4.93109813e+01] [ 2.01002683e-01 9.79486404e-01 -1.42935287e-02 9.25441205e+00] [ 8.44222818e-02 -2.78376402e-03 9.96426178e-01 4.17923377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457105680999994 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:9.28, Z:4.18 [[ 9.76471438e-01 -1.98930086e-01 -8.32487290e-02 4.93659788e+01] [ 1.98431815e-01 9.80010354e-01 -1.43010518e-02 9.27984814e+00] [ 8.44295258e-02 -2.55462778e-03 9.96426178e-01 4.18103685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:49.42, Y:9.30, Z:4.19 [[ 9.76988122e-01 -1.96378722e-01 -8.32442623e-02 4.94213677e+01] [ 1.95868998e-01 9.80525406e-01 -1.43270048e-02 9.29961021e+00] [ 8.44366330e-02 -2.30765672e-03 9.96426179e-01 4.18727638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:9.33, Z:4.20 [[ 9.79389144e-01 -1.84033124e-01 -8.32389017e-02 4.94763221e+01] [ 1.83476158e-01 9.82919297e-01 -1.43580823e-02 9.32797818e+00] [ 8.44594855e-02 -1.21020396e-03 9.96426179e-01 4.20224592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637105680999994 meters Centerline goodness : 0.998243 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:9.35, Z:4.20 [[ 9.83553519e-01 -1.60292909e-01 -8.32385614e-02 4.95352412e+01] [ 1.59650564e-01 9.87069140e-01 -1.43600546e-02 9.35173768e+00] [ 8.44640301e-02 8.34798949e-04 9.96426179e-01 4.20119166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697105681 meters Centerline goodness : 0.997733 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:9.37, Z:4.20 [[ 9.86158073e-01 -1.43399731e-01 -8.32392442e-02 4.95946259e+01] [ 1.42697515e-01 9.89662226e-01 -1.43560959e-02 9.36563412e+00] [ 8.44373960e-02 2.27934657e-03 9.96426179e-01 4.19565439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters Centerline goodness : 0.997922 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:9.37, Z:4.19 [[ 9.86035132e-01 -1.44242665e-01 -8.32392442e-02 4.96543463e+01] [ 1.43543445e-01 9.89539884e-01 -1.43560959e-02 9.37408576e+00] [ 8.44393135e-02 2.20716704e-03 9.96426179e-01 4.19414831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817105680999994 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:49.71, Y:9.37, Z:4.20 [[ 9.85105181e-01 -1.50463028e-01 -8.32385678e-02 4.97143915e+01] [ 1.49785610e-01 9.88614212e-01 -1.43600165e-02 9.37086239e+00] [ 8.44514827e-02 1.67818703e-03 9.96426179e-01 4.19777502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877105680999996 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:49.77, Y:9.37, Z:4.21 [[ 9.83597316e-01 -1.60026303e-01 -8.32340238e-02 4.97732194e+01] [ 1.59380783e-01 9.87112354e-01 -1.43863069e-02 9.37096631e+00] [ 8.44635207e-02 8.84429009e-04 9.96426180e-01 4.21026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937105681 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:9.37, Z:4.22 [[ 9.82519453e-01 -1.66518643e-01 -8.32290017e-02 4.98316847e+01] [ 1.65893895e-01 9.86038242e-01 -1.44153029e-02 9.36673809e+00] [ 8.44673952e-02 3.56132287e-04 9.96426180e-01 4.21897844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997105680999994 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:9.37, Z:4.22 [[ 9.81988887e-01 -1.69622118e-01 -8.32235774e-02 4.98911747e+01] [ 1.69005842e-01 9.85509169e-01 -1.44465514e-02 9.36831489e+00] [ 8.44680532e-02 1.21082081e-04 9.96426181e-01 4.22438214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057105680999996 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:9.37, Z:4.23 [[ 9.82800805e-01 -1.64855017e-01 -8.32189916e-02 4.99489795e+01] [ 1.64219434e-01 9.86317653e-01 -1.44729195e-02 9.37467348e+00] [ 8.44662939e-02 5.57821221e-04 9.96426181e-01 4.23452737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:9.37, Z:4.24 [[ 9.84484745e-01 -1.54483691e-01 -8.32140405e-02 5.00083619e+01] [ 1.53808662e-01 9.87994234e-01 -1.45013314e-02 9.37488378e+00] [ 8.44552114e-02 1.47729925e-03 9.96426181e-01 4.23596313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17710568099999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:9.38, Z:4.24 [[ 9.85914562e-01 -1.45081707e-01 -8.32092208e-02 5.00660520e+01] [ 1.44370890e-01 9.89416978e-01 -1.45289345e-02 9.37810586e+00] [ 8.44364984e-02 2.31129888e-03 9.96426182e-01 4.23788890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237105680999996 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:9.38, Z:4.24 [[ 9.86773952e-01 -1.39117917e-01 -8.32068027e-02 5.01264958e+01] [ 1.38384771e-01 9.90271762e-01 -1.45427696e-02 9.37649333e+00] [ 8.44205070e-02 2.83587186e-03 9.96426182e-01 4.24039610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:50.19, Y:9.37, Z:4.24 [[ 9.86460612e-01 -1.41324071e-01 -8.32043749e-02 5.01856833e+01] [ 1.40597579e-01 9.89959810e-01 -1.45566469e-02 9.37387406e+00] [ 8.44261917e-02 2.66122507e-03 9.96426182e-01 4.24013923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:9.37, Z:4.24 [[ 9.85643210e-01 -1.46917610e-01 -8.32026356e-02 5.02441674e+01] [ 1.46210141e-01 9.89146303e-01 -1.45665814e-02 9.37289118e+00] [ 8.44396668e-02 2.19238298e-03 9.96426182e-01 4.24360191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:9.37, Z:4.25 [[ 9.83779637e-01 -1.58918946e-01 -8.32009323e-02 5.03039258e+01] [ 1.58253401e-01 9.87290936e-01 -1.45763037e-02 9.37171643e+00] [ 8.44599772e-02 1.17304030e-03 9.96426182e-01 4.25023078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:9.38, Z:4.26 [[ 9.81976279e-01 -1.69708613e-01 -8.31959955e-02 5.03619017e+01] [ 1.69079269e-01 9.85494247e-01 -1.46044270e-02 9.37792076e+00] [ 8.44676720e-02 2.74482733e-04 9.96426182e-01 4.25570845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53710568099999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:50.42, Y:9.38, Z:4.27 [[ 9.80298221e-01 -1.79150131e-01 -8.31903087e-02 5.04190226e+01] [ 1.78551927e-01 9.83821617e-01 -1.46367495e-02 9.38202204e+00] [ 8.44665996e-02 -5.05410425e-04 9.96426183e-01 4.26695927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:9.38, Z:4.28 [[ 9.78708717e-01 -1.87640370e-01 -8.31885744e-02 5.04772746e+01] [ 1.87071891e-01 9.82237031e-01 -1.46465997e-02 9.38411570e+00] [ 8.44591917e-02 -1.22748908e-03 9.96426183e-01 4.27753587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:9.39, Z:4.28 [[ 9.75642423e-01 -2.02983556e-01 -8.31837673e-02 5.05341325e+01] [ 2.02468222e-01 9.79178889e-01 -1.46738504e-02 9.39354963e+00] [ 8.44303392e-02 -2.52563857e-03 9.96426183e-01 4.28484516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.59, Y:9.41, Z:4.29 [[ 9.71295194e-01 -2.22860946e-01 -8.31783921e-02 5.05908380e+01] [ 2.22415327e-01 9.74841119e-01 -1.47042571e-02 9.40706118e+00] [ 8.43627215e-02 -4.21797500e-03 9.96426184e-01 4.29013670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:9.42, Z:4.29 [[ 9.69287140e-01 -2.31440559e-01 -8.31727603e-02 5.06461662e+01] [ 2.31023592e-01 9.72836548e-01 -1.47360439e-02 9.42450719e+00] [ 8.43240193e-02 -4.93141202e-03 9.96426184e-01 4.29459190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:9.45, Z:4.30 [[ 9.68817479e-01 -2.33400755e-01 -8.31671830e-02 5.07013289e+01] [ 2.32988282e-01 9.72367411e-01 -1.47674546e-02 9.44981341e+00] [ 8.43157935e-02 -5.07001101e-03 9.96426185e-01 4.29819223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.75, Y:9.49, Z:4.30 [[ 9.68507056e-01 -2.34687309e-01 -8.31621862e-02 5.07529852e+01] [ 2.34277149e-01 9.72057256e-01 -1.47955404e-02 9.48634637e+00] [ 8.43107321e-02 -5.15341464e-03 9.96426185e-01 4.30323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:9.52, Z:4.31 [[ 9.69741816e-01 -2.29533939e-01 -8.31563663e-02 5.08046391e+01] [ 2.29102117e-01 9.73289446e-01 -1.48281786e-02 9.51795645e+00] [ 8.43387839e-02 -4.67179478e-03 9.96426186e-01 4.30844597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:9.55, Z:4.31 [[ 9.72472445e-01 -2.17675845e-01 -8.31538893e-02 5.08569093e+01] [ 2.17199553e-01 9.76014379e-01 -1.48420562e-02 9.55376994e+00] [ 8.43901488e-02 -3.62749686e-03 9.96426186e-01 4.31339101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:9.58, Z:4.32 [[ 9.75888777e-01 -2.01810433e-01 -8.31483302e-02 5.09113760e+01] [ 2.01273878e-01 9.79422083e-01 -1.48731349e-02 9.58332009e+00] [ 8.44388645e-02 -2.22106148e-03 9.96426186e-01 4.31517453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137105680999994 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:9.62, Z:4.32 [[ 9.81026495e-01 -1.75140474e-01 -8.31434343e-02 5.09673234e+01] [ 1.74505513e-01 9.84543449e-01 -1.49004535e-02 9.62045466e+00] [ 8.44679961e-02 1.08752058e-04 9.96426187e-01 4.31520159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197105681 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:9.64, Z:4.31 [[ 9.82923565e-01 -1.64159434e-01 -8.31441307e-02 5.10249027e+01] [ 1.63485514e-01 9.86433261e-01 -1.48965670e-02 9.64443438e+00] [ 8.44615480e-02 1.04932586e-03 9.96426187e-01 4.30740874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters Centerline goodness : 0.997403 with order 1 Centerline is valid? [True, True] Translation: X:51.08, Y:9.66, Z:4.30 [[ 9.82135667e-01 -1.68808614e-01 -8.31455553e-02 5.10831406e+01] [ 1.68151982e-01 9.85648639e-01 -1.48886113e-02 9.65842389e+00] [ 8.44656293e-02 6.41546274e-04 9.96426187e-01 4.30428073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317105680999994 meters Centerline goodness : 0.997393 with order 1 Centerline is valid? [True, True] Translation: X:51.14, Y:9.67, Z:4.32 [[ 9.79000307e-01 -1.86132824e-01 -8.31442808e-02 5.11403196e+01] [ 1.85537750e-01 9.82524229e-01 -1.48957251e-02 9.67419668e+00] [ 8.44638538e-02 -8.43483378e-04 9.96426187e-01 4.31696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377105680999996 meters Centerline goodness : 0.997436 with order 1 Centerline is valid? [True, True] Translation: X:51.20, Y:9.69, Z:4.32 [[ 9.79116200e-01 -1.85522536e-01 -8.31435860e-02 5.12009137e+01] [ 1.84924937e-01 9.82639695e-01 -1.48996022e-02 9.68914096e+00] [ 8.44644000e-02 -7.86880502e-04 9.96426187e-01 4.32423516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters Centerline goodness : 0.997354 with order 1 Centerline is valid? [True, True] Translation: X:51.26, Y:9.70, Z:4.33 [[ 9.79304682e-01 -1.84524386e-01 -8.31450003e-02 5.12598664e+01] [ 1.83923867e-01 9.82827680e-01 -1.48917061e-02 9.70336294e+00] [ 8.44650906e-02 -7.08832443e-04 9.96426187e-01 4.33012278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497105680999994 meters Centerline goodness : 0.997223 with order 1 Centerline is valid? [True, True] Translation: X:51.32, Y:9.72, Z:4.34 [[ 9.78351090e-01 -1.89514418e-01 -8.31470365e-02 5.13203543e+01] [ 1.88932833e-01 9.81877263e-01 -1.48803284e-02 9.71563198e+00] [ 8.44602214e-02 -1.15101960e-03 9.96426187e-01 4.33935408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557105680999996 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:51.38, Y:9.73, Z:4.34 [[ 9.78556475e-01 -1.88450412e-01 -8.31484635e-02 5.13810123e+01] [ 1.87865671e-01 9.82082126e-01 -1.48723499e-02 9.72863501e+00] [ 8.44613203e-02 -1.06730759e-03 9.96426187e-01 4.34429832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617105681 meters Centerline goodness : 0.997470 with order 1 Centerline is valid? [True, True] Translation: X:51.44, Y:9.74, Z:4.35 [[ 9.80951299e-01 -1.75558104e-01 -8.31498701e-02 5.14424906e+01] [ 1.74927689e-01 9.84469070e-01 -1.48644817e-02 9.73859227e+00] [ 8.44680556e-02 3.61180260e-05 9.96426187e-01 4.35157928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67710568099999 meters Centerline goodness : 0.997376 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:9.75, Z:4.35 [[ 9.84498834e-01 -1.54427687e-01 -8.31512818e-02 5.15037735e+01] [ 1.53722455e-01 9.88002373e-01 -1.48565806e-02 9.74772242e+00] [ 8.44479311e-02 1.84406718e-03 9.96426187e-01 4.35362665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737105680999996 meters Centerline goodness : 0.997801 with order 1 Centerline is valid? [True, True] Translation: X:51.57, Y:9.75, Z:4.35 [[ 9.86576014e-01 -1.40546783e-01 -8.31526902e-02 5.15661097e+01] [ 1.39792941e-01 9.90069417e-01 -1.48486937e-02 9.75268196e+00] [ 8.44138716e-02 3.02520587e-03 9.96426187e-01 4.35116072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797105681 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:51.63, Y:9.75, Z:4.35 [[ 9.86815878e-01 -1.38852003e-01 -8.31537368e-02 5.16276881e+01] [ 1.38092655e-01 9.90308088e-01 -1.48428300e-02 9.75275244e+00] [ 8.44087748e-02 3.16422000e-03 9.96426187e-01 4.35391169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85710568099999 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:9.75, Z:4.36 [[ 9.85036825e-01 -1.50956650e-01 -8.31537368e-02 5.16883888e+01] [ 1.50240233e-01 9.88538094e-01 -1.48428300e-02 9.74855256e+00] [ 8.44412604e-02 2.12769731e-03 9.96426187e-01 4.35671931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917105680999995 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:9.74, Z:4.36 [[ 9.82986771e-01 -1.63776005e-01 -8.31530380e-02 5.17480407e+01] [ 1.63104930e-01 9.86497013e-01 -1.48467439e-02 9.74401976e+00] [ 8.44617640e-02 1.03148246e-03 9.96426187e-01 4.36119884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977105681 meters Centerline goodness : 0.998445 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:9.74, Z:4.37 [[ 9.81486914e-01 -1.72537800e-01 -8.31513422e-02 5.18074402e+01] [ 1.71897259e-01 9.85002855e-01 -1.48562357e-02 9.74196733e+00] [ 8.44675717e-02 2.87713117e-04 9.96426187e-01 4.36962886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03710568099999 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:9.74, Z:4.38 [[ 9.78708779e-01 -1.87658614e-01 -8.31466827e-02 5.18658365e+01] [ 1.87070177e-01 9.82233815e-01 -1.48822685e-02 9.74344621e+00] [ 8.44622692e-02 -9.88857835e-04 9.96426188e-01 4.38352703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097105680999995 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:9.74, Z:4.38 [[ 9.76337176e-01 -1.99632578e-01 -8.31417588e-02 5.19268871e+01] [ 1.99085026e-01 9.79868793e-01 -1.49097257e-02 9.74011989e+00] [ 8.44444819e-02 -1.99535978e-03 9.96426188e-01 4.38335661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:9.74, Z:4.39 [[ 9.74310013e-01 -2.09303256e-01 -8.31393142e-02 5.19859223e+01] [ 2.08789587e-01 9.77846717e-01 -1.49233450e-02 9.74110070e+00] [ 8.44210101e-02 -2.81865859e-03 9.96426188e-01 4.38968019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21710568099999 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:9.75, Z:4.39 [[ 9.73331592e-01 -2.13809217e-01 -8.31338090e-02 5.20429590e+01] [ 2.13309308e-01 9.76870267e-01 -1.49539504e-02 9.75254189e+00] [ 8.44082386e-02 -3.17806284e-03 9.96426189e-01 4.39433499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277105680999995 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:52.10, Y:9.77, Z:4.40 [[ 9.72706731e-01 -2.16636218e-01 -8.31285974e-02 5.20989870e+01] [ 2.16144125e-01 9.76246501e-01 -1.49828657e-02 9.76735352e+00] [ 8.43998337e-02 -3.39382360e-03 9.96426189e-01 4.40010380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:52.16, Y:9.79, Z:4.40 [[ 9.70746532e-01 -2.25259188e-01 -8.31232124e-02 5.21550078e+01] [ 2.24795978e-01 9.74290197e-01 -1.50126818e-02 9.78634005e+00] [ 8.43678755e-02 -4.11225501e-03 9.96426189e-01 4.40346501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:52.21, Y:9.80, Z:4.41 [[ 9.69635099e-01 -2.29997993e-01 -8.31185802e-02 5.22116306e+01] [ 2.29549909e-01 9.73180707e-01 -1.50382847e-02 9.80326709e+00] [ 8.43481740e-02 -4.49821389e-03 9.96426190e-01 4.40587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457105680999994 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:9.82, Z:4.42 [[ 9.68318559e-01 -2.35480920e-01 -8.31137998e-02 5.22662164e+01] [ 2.35050650e-01 9.71866373e-01 -1.50646590e-02 9.82219155e+00] [ 8.43229470e-02 -4.94856380e-03 9.96426190e-01 4.41579354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517105681 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:9.84, Z:4.42 [[ 9.67363102e-01 -2.39376567e-01 -8.31113021e-02 5.23205628e+01] [ 2.38959403e-01 9.70912481e-01 -1.50784266e-02 9.84347194e+00] [ 8.43032225e-02 -5.27391361e-03 9.96426190e-01 4.42263157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:52.37, Y:9.87, Z:4.43 [[ 9.67390998e-01 -2.39265682e-01 -8.31059013e-02 5.23743113e+01] [ 2.38845569e-01 9.70940028e-01 -1.51081351e-02 9.86846671e+00] [ 8.43057044e-02 -5.23400242e-03 9.96426191e-01 4.43053141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637105680999994 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:9.89, Z:4.43 [[ 9.68887603e-01 -2.33131941e-01 -8.31042215e-02 5.24308416e+01] [ 2.32688562e-01 9.72433802e-01 -1.51173696e-02 9.88863117e+00] [ 8.43376957e-02 -4.69036975e-03 9.96426191e-01 4.42921629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697105681 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:9.92, Z:4.43 [[ 9.71139716e-01 -2.23566690e-01 -8.30998586e-02 5.24855685e+01] [ 2.23086320e-01 9.74681094e-01 -1.51413146e-02 9.91602523e+00] [ 8.43809546e-02 -3.83410967e-03 9.96426191e-01 4.43189513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:9.94, Z:4.43 [[ 9.75542209e-01 -2.03501008e-01 -8.30947496e-02 5.25439319e+01] [ 2.02945358e-01 9.79072558e-01 -1.51693007e-02 9.94469060e+00] [ 8.44427570e-02 -2.06540060e-03 9.96426191e-01 4.43170322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817105680999994 meters Centerline goodness : 0.997121 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:9.97, Z:4.43 [[ 9.80039454e-01 -1.80603735e-01 -8.30960910e-02 5.26030222e+01] [ 1.79966201e-01 9.83555937e-01 -1.51619489e-02 9.96866815e+00] [ 8.44679583e-02 -9.51797274e-05 9.96426191e-01 4.43341043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877105680999996 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:9.99, Z:4.44 [[ 9.81196547e-01 -1.74207174e-01 -8.30975105e-02 5.26614660e+01] [ 1.73547375e-01 9.84708921e-01 -1.51541655e-02 9.99225263e+00] [ 8.44668243e-02 4.47860031e-04 9.96426191e-01 4.43995546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:10.00, Z:4.45 [[ 9.80315656e-01 -1.79097123e-01 -8.30989497e-02 5.27236780e+01] [ 1.78455514e-01 9.83831398e-01 -1.51462694e-02 9.99868973e+00] [ 8.44680091e-02 1.86592469e-05 9.96426191e-01 4.44585317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997105680999994 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:10.01, Z:4.45 [[ 9.79022589e-01 -1.86035203e-01 -8.31003855e-02 5.27853585e+01] [ 1.85419177e-01 9.82542904e-01 -1.51383874e-02 1.00075320e+01] [ 8.44659671e-02 -5.87581933e-04 9.96426192e-01 4.45026381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057105680999996 meters Centerline goodness : 0.997421 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:10.01, Z:4.46 [[ 9.76742567e-01 -1.97656391e-01 -8.31017947e-02 5.28471488e+01] [ 1.97082901e-01 9.80270062e-01 -1.51306481e-02 1.00111583e+01] [ 8.44528707e-02 -1.59919469e-03 9.96426192e-01 4.45503230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117105681 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:52.91, Y:10.02, Z:4.46 [[ 9.74074510e-01 -2.10410906e-01 -8.31029434e-02 5.29077212e+01] [ 2.09884126e-01 9.77609282e-01 -1.51243362e-02 1.00151861e+01] [ 8.44245341e-02 -2.70975828e-03 9.96426192e-01 4.46434190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17710568099999 meters Centerline goodness : 0.997257 with order 1 Centerline is valid? [True, True] Translation: X:52.97, Y:10.02, Z:4.47 [[ 9.73116795e-01 -2.14796659e-01 -8.31029434e-02 5.29694785e+01] [ 2.14285808e-01 9.76653903e-01 -1.51243362e-02 1.00228803e+01] [ 8.44114709e-02 -3.09003583e-03 9.96426192e-01 4.47316191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237105680999996 meters Centerline goodness : 0.997527 with order 1 Centerline is valid? [True, True] Translation: X:53.03, Y:10.03, Z:4.48 [[ 9.73156704e-01 -2.14615226e-01 -8.31043510e-02 5.30315753e+01] [ 2.14104376e-01 9.76693813e-01 -1.51165978e-02 1.00303881e+01] [ 8.44117575e-02 -3.08218671e-03 9.96426192e-01 4.47812797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297105681 meters Centerline goodness : 0.997148 with order 1 Centerline is valid? [True, True] Translation: X:53.09, Y:10.04, Z:4.48 [[ 9.72887616e-01 -2.15831238e-01 -8.31057310e-02 5.30920079e+01] [ 2.15325456e-01 9.76425453e-01 -1.51090072e-02 1.00440853e+01] [ 8.44075468e-02 -3.19541340e-03 9.96426192e-01 4.48260917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35710568099999 meters Centerline goodness : 0.997499 with order 1 Centerline is valid? [True, True] Translation: X:53.15, Y:10.05, Z:4.48 [[ 9.71255452e-01 -2.23060657e-01 -8.31071048e-02 5.31524072e+01] [ 2.22581845e-01 9.74797040e-01 -1.51014468e-02 1.00546797e+01] [ 8.43810984e-02 -3.83077021e-03 9.96426192e-01 4.48413983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417105680999995 meters Centerline goodness : 0.997508 with order 1 Centerline is valid? [True, True] Translation: X:53.21, Y:10.07, Z:4.49 [[ 9.68796106e-01 -2.33510485e-01 -8.31081110e-02 5.32124156e+01] [ 2.33070326e-01 9.72342705e-01 -1.50959073e-02 1.00685204e+01] [ 8.43346182e-02 -4.74517834e-03 9.96426192e-01 4.48665514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477105681 meters Centerline goodness : 0.997132 with order 1 Centerline is valid? [True, True] Translation: X:53.27, Y:10.09, Z:4.49 [[ 9.65282227e-01 -2.47634974e-01 -8.31092159e-02 5.32692442e+01] [ 2.47247182e-01 9.68834934e-01 -1.50898223e-02 1.00857245e+01] [ 8.42558794e-02 -5.98258211e-03 9.96426192e-01 4.49031383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53710568099999 meters Centerline goodness : 0.996504 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:10.11, Z:4.49 [[ 9.62940191e-01 -2.56591446e-01 -8.31084785e-02 5.33279034e+01] [ 2.56236325e-01 9.66496312e-01 -1.50938824e-02 1.01087894e+01] [ 8.41969990e-02 -6.76090516e-03 9.96426192e-01 4.49484355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597105680999995 meters Centerline goodness : 0.996554 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:10.13, Z:4.50 [[ 9.61223739e-01 -2.62948082e-01 -8.31097477e-02 5.33870885e+01] [ 2.62617065e-01 9.64782184e-01 -1.50868907e-02 1.01298983e+01] [ 8.41498729e-02 -7.32416058e-03 9.96426192e-01 4.50093533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657105681 meters Centerline goodness : 0.996147 with order 1 Centerline is valid? [True, True] Translation: X:53.44, Y:10.16, Z:4.51 [[ 9.61493863e-01 -2.61958182e-01 -8.31111446e-02 5.34425470e+01] [ 2.61624161e-01 9.65052028e-01 -1.50791915e-02 1.01626239e+01] [ 8.41566962e-02 -7.24533346e-03 9.96426192e-01 4.51260800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71710568099999 meters Centerline goodness : 0.995857 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:10.19, Z:4.52 [[ 9.62140786e-01 -2.59570625e-01 -8.31155753e-02 5.35004547e+01] [ 2.59229871e-01 9.65698312e-01 -1.50547301e-02 1.01897303e+01] [ 8.41723365e-02 -7.06127000e-03 9.96426192e-01 4.51709405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777105680999995 meters Centerline goodness : 0.996327 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:10.22, Z:4.52 [[ 9.66111808e-01 -2.44374695e-01 -8.31202882e-02 5.35587536e+01] [ 2.43980147e-01 9.69663770e-01 -1.50286642e-02 1.02158508e+01] [ 8.42713573e-02 -5.76033017e-03 9.96426192e-01 4.52089407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837105681 meters Centerline goodness : 0.996864 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:10.25, Z:4.54 [[ 9.72185114e-01 -2.18967556e-01 -8.31222797e-02 5.36157792e+01] [ 2.18480982e-01 9.75725643e-01 -1.50176416e-02 1.02454157e+01] [ 8.43929161e-02 -3.56070972e-03 9.96426192e-01 4.53600315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89710568099999 meters Centerline goodness : 0.998308 with order 1 Centerline is valid? [True, True] Translation: X:53.67, Y:10.27, Z:4.54 [[ 9.75071388e-01 -2.05733320e-01 -8.31239413e-02 5.36741561e+01] [ 2.05199452e-01 9.78605095e-01 -1.50084385e-02 1.02683909e+01] [ 8.44332484e-02 -2.42268820e-03 9.96426193e-01 4.53590324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957105680999994 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:53.73, Y:10.29, Z:4.54 [[ 9.72185240e-01 -2.18964707e-01 -8.31283136e-02 5.37338200e+01] [ 2.18480979e-01 9.75726158e-01 -1.49841825e-02 1.02864737e+01] [ 8.43914772e-02 -3.59455428e-03 9.96426193e-01 4.54342010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017105681 meters Centerline goodness : 0.997387 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:10.30, Z:4.55 [[ 9.68548047e-01 -2.34528229e-01 -8.31335746e-02 5.37954931e+01] [ 2.34103852e-01 9.72096567e-01 -1.49549373e-02 1.02979842e+01] [ 8.43212174e-02 -4.97731470e-03 9.96426193e-01 4.54589728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:10.31, Z:4.55 [[ 9.65798850e-01 -2.45603537e-01 -8.31353337e-02 5.38557136e+01] [ 2.45220660e-01 9.69352088e-01 -1.49451516e-02 1.03105338e+01] [ 8.42579914e-02 -5.95249114e-03 9.96426193e-01 4.54542053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137105680999994 meters Centerline goodness : 0.997569 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:10.33, Z:4.55 [[ 9.64292075e-01 -2.51453479e-01 -8.31380871e-02 5.39158367e+01] [ 2.51093461e-01 9.67847702e-01 -1.49298193e-02 1.03264461e+01] [ 8.42191615e-02 -6.47872360e-03 9.96426193e-01 4.55093306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197105681 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:53.98, Y:10.34, Z:4.56 [[ 9.65236070e-01 -2.47803540e-01 -8.31428555e-02 5.39753661e+01] [ 2.47432353e-01 9.68790548e-01 -1.49032171e-02 1.03448988e+01] [ 8.42410825e-02 -6.18710968e-03 9.96426194e-01 4.55720344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:10.37, Z:4.56 [[ 9.69591297e-01 -2.30172118e-01 -8.31475369e-02 5.40343938e+01] [ 2.29738452e-01 9.73138694e-01 -1.48770534e-02 1.03675237e+01] [ 8.43383683e-02 -4.67752490e-03 9.96426194e-01 4.56327505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317105680999994 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:10.38, Z:4.57 [[ 9.71946490e-01 -2.20012982e-01 -8.31523161e-02 5.40956968e+01] [ 2.19544502e-01 9.75489457e-01 -1.48502930e-02 1.03832600e+01] [ 8.43814649e-02 -3.82194364e-03 9.96426195e-01 4.57178657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377105680999996 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:10.41, Z:4.58 [[ 9.80069840e-01 -1.80410411e-01 -8.31576292e-02 5.41528789e+01] [ 1.79801146e-01 9.83591328e-01 -1.48204812e-02 1.04083000e+01] [ 8.44668921e-02 -4.26730369e-04 9.96426195e-01 4.57979390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:10.42, Z:4.59 [[ 9.82555501e-01 -1.66339396e-01 -8.31618497e-02 5.42133561e+01] [ 1.65681709e-01 9.86068267e-01 -1.47967610e-02 1.04151079e+01] [ 8.44645453e-02 7.60241604e-04 9.96426195e-01 4.58716958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497105680999994 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:54.28, Y:10.42, Z:4.59 [[ 9.82868554e-01 -1.64479202e-01 -8.31624764e-02 5.42755497e+01] [ 1.63815164e-01 9.86380126e-01 -1.47932382e-02 1.04197294e+01] [ 8.44629939e-02 9.16533943e-04 9.96426195e-01 4.58605709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557105680999996 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:10.42, Z:4.59 [[ 9.83658055e-01 -1.59687546e-01 -8.31668120e-02 5.43372973e+01] [ 1.59008467e-01 9.87166748e-01 -1.47688234e-02 1.04157782e+01] [ 8.44579085e-02 1.30324481e-03 9.96426196e-01 4.59411012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617105681 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:10.41, Z:4.59 [[ 9.83321656e-01 -1.61745111e-01 -8.31687381e-02 5.44026782e+01] [ 1.61074292e-01 9.86831938e-01 -1.47579686e-02 1.04055772e+01] [ 8.44605963e-02 1.11548445e-03 9.96426196e-01 4.59179996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67710568099999 meters Centerline goodness : 0.997746 with order 1 Centerline is valid? [True, True] Translation: X:54.47, Y:10.40, Z:4.60 [[ 9.81784123e-01 -1.70827718e-01 -8.31734708e-02 5.44665717e+01] [ 1.70191640e-01 9.85300866e-01 -1.47312481e-02 1.03977740e+01] [ 8.44673983e-02 3.07476145e-04 9.96426196e-01 4.59734191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737105680999996 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:54.53, Y:10.39, Z:4.60 [[ 9.79193507e-01 -1.85100021e-01 -8.31748582e-02 5.45312623e+01] [ 1.84515864e-01 9.82719246e-01 -1.47234102e-02 1.03902833e+01] [ 8.44628375e-02 -9.30013164e-04 9.96426196e-01 4.60116200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797105681 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:54.59, Y:10.38, Z:4.61 [[ 9.76748681e-01 -1.97594871e-01 -8.31762086e-02 5.45948174e+01] [ 1.97056455e-01 9.80281694e-01 -1.47157774e-02 1.03793938e+01] [ 8.44438768e-02 -2.01679267e-03 9.96426196e-01 4.60530946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85710568099999 meters Centerline goodness : 0.995793 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:10.37, Z:4.62 [[ 9.78439504e-01 -1.89043480e-01 -8.31787207e-02 5.46581078e+01] [ 1.88475388e-01 9.81967867e-01 -1.47015647e-02 1.03692728e+01] [ 8.44580659e-02 -1.29254994e-03 9.96426196e-01 4.62022233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917105680999995 meters Centerline goodness : 0.995934 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:10.37, Z:4.63 [[ 9.81022650e-01 -1.75144535e-01 -8.31802387e-02 5.47203503e+01] [ 1.74527177e-01 9.84542727e-01 -1.46929711e-02 1.03700640e+01] [ 8.44678926e-02 -1.03074791e-04 9.96426196e-01 4.62652598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977105681 meters Centerline goodness : 0.996073 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:10.37, Z:4.63 [[ 9.82669976e-01 -1.65651773e-01 -8.31817809e-02 5.47843036e+01] [ 1.65001150e-01 9.86184057e-01 -1.46842346e-02 1.03712272e+01] [ 8.44650157e-02 7.04666955e-04 9.96426196e-01 4.62814135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03710568099999 meters Centerline goodness : 0.996576 with order 1 Centerline is valid? [True, True] Translation: X:54.85, Y:10.37, Z:4.63 [[ 9.83075772e-01 -1.63225253e-01 -8.31837927e-02 5.48476453e+01] [ 1.62566922e-01 9.86588417e-01 -1.46728296e-02 1.03724593e+01] [ 8.44631426e-02 9.01570197e-04 9.96426196e-01 4.63173590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097105680999995 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:10.37, Z:4.64 [[ 9.83840991e-01 -1.58546753e-01 -8.31855220e-02 5.49120117e+01] [ 1.57872548e-01 9.87350624e-01 -1.46630190e-02 1.03668631e+01] [ 8.44580511e-02 1.29336884e-03 9.96426196e-01 4.63660630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157105681 meters Centerline goodness : 0.997102 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:10.37, Z:4.64 [[ 9.85330597e-01 -1.49008357e-01 -8.31872805e-02 5.49726722e+01] [ 1.48301027e-01 9.88833704e-01 -1.46530359e-02 1.03683109e+01] [ 8.44418115e-02 2.10132547e-03 9.96426196e-01 4.64178936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21710568099999 meters Centerline goodness : 0.997251 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:10.36, Z:4.64 [[ 9.86159068e-01 -1.43422824e-01 -8.31876551e-02 5.50326469e+01] [ 1.42695835e-01 9.89658148e-01 -1.46509087e-02 1.03645120e+01] [ 8.44286154e-02 2.57759461e-03 9.96426196e-01 4.63966744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277105680999995 meters Centerline goodness : 0.997032 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:10.36, Z:4.64 [[ 9.85327737e-01 -1.49028108e-01 -8.31857780e-02 5.50909449e+01] [ 1.48320129e-01 9.88830712e-01 -1.46615591e-02 1.03637435e+01] [ 8.44416365e-02 2.10831554e-03 9.96426196e-01 4.64363741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337105681 meters Centerline goodness : 0.997445 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:10.35, Z:4.65 [[ 9.84380769e-01 -1.55160998e-01 -8.31839332e-02 5.51512042e+01] [ 1.54473963e-01 9.87887912e-01 -1.46720180e-02 1.03534302e+01] [ 8.44529271e-02 1.59310053e-03 9.96426197e-01 4.65299922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39710568099999 meters Centerline goodness : 0.997931 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:10.35, Z:4.66 [[ 9.85326984e-01 -1.49037423e-01 -8.31780137e-02 5.52114049e+01] [ 1.48325770e-01 9.88829214e-01 -1.47055004e-02 1.03489781e+01] [ 8.44405198e-02 2.15228339e-03 9.96426197e-01 4.66335423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457105680999994 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:55.27, Y:10.34, Z:4.66 [[ 9.86269698e-01 -1.42668685e-01 -8.31728821e-02 5.52714066e+01] [ 1.41931980e-01 9.89766744e-01 -1.47344678e-02 1.03422592e+01] [ 8.44238999e-02 2.72726722e-03 9.96426198e-01 4.66457404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517105681 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:55.33, Y:10.33, Z:4.67 [[ 9.86020376e-01 -1.44384829e-01 -8.31675377e-02 5.53325723e+01] [ 1.43651675e-01 9.89518167e-01 -1.47645722e-02 1.03308629e+01] [ 8.44275698e-02 2.61101296e-03 9.96426198e-01 4.66556879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57710568099999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:55.39, Y:10.33, Z:4.68 [[ 9.85308651e-01 -1.49165410e-01 -8.31657594e-02 5.53916603e+01] [ 1.48448385e-01 9.88809784e-01 -1.47745822e-02 1.03258179e+01] [ 8.44389732e-02 2.21170096e-03 9.96426198e-01 4.67874138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637105680999994 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:10.32, Z:4.68 [[ 9.84030682e-01 -1.57376842e-01 -8.31633684e-02 5.54518900e+01] [ 1.56687901e-01 9.87537450e-01 -1.47880288e-02 1.03220910e+01] [ 8.44542340e-02 1.52118036e-03 9.96426198e-01 4.68219852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:10.32, Z:4.69 [[ 9.80245981e-01 -1.79450564e-01 -8.31583477e-02 5.55106549e+01] [ 1.78838213e-01 9.83766931e-01 -1.48162082e-02 1.03193555e+01] [ 8.44672094e-02 -3.48361745e-04 9.96426199e-01 4.68720279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:10.32, Z:4.70 [[ 9.76909769e-01 -1.96805193e-01 -8.31565963e-02 5.55689070e+01] [ 1.96254539e-01 9.80440893e-01 -1.48260315e-02 1.03208937e+01] [ 8.44479676e-02 -1.83616450e-03 9.96426199e-01 4.70307510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:10.33, Z:4.70 [[ 9.75677235e-01 -2.02829233e-01 -8.31518751e-02 5.56269679e+01] [ 2.02298127e-01 9.79211352e-01 -1.48524635e-02 1.03310061e+01] [ 8.44357738e-02 -2.33025812e-03 9.96426199e-01 4.70374912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:10.35, Z:4.70 [[ 9.75202740e-01 -2.05100426e-01 -8.31470480e-02 5.56845893e+01] [ 2.04575252e-01 9.78737742e-01 -1.48794380e-02 1.03452149e+01] [ 8.44309331e-02 -2.49935963e-03 9.96426199e-01 4.70118903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:10.36, Z:4.70 [[ 9.74039089e-01 -2.10559318e-01 -8.31422093e-02 5.57407949e+01] [ 2.10051652e-01 9.77576648e-01 -1.49064267e-02 1.03586483e+01] [ 8.44165692e-02 -2.94471611e-03 9.96426200e-01 4.70409433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997105680999994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:55.79, Y:10.38, Z:4.71 [[ 9.71736113e-01 -2.20946253e-01 -8.31365191e-02 5.57946268e+01] [ 2.20473679e-01 9.75278530e-01 -1.49380950e-02 1.03811605e+01] [ 8.43817782e-02 -3.81352781e-03 9.96426200e-01 4.71454981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:10.40, Z:4.72 [[ 9.70255722e-01 -2.27359726e-01 -8.31347659e-02 5.58497522e+01] [ 2.26909726e-01 9.73801077e-01 -1.49478456e-02 1.04027303e+01] [ 8.43552627e-02 -4.36085427e-03 9.96426200e-01 4.71881044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:10.43, Z:4.72 [[ 9.68910088e-01 -2.33029504e-01 -8.31293675e-02 5.59056411e+01] [ 2.32597682e-01 9.72457703e-01 -1.49778079e-02 1.04250280e+01] [ 8.43300649e-02 -4.82354895e-03 9.96426201e-01 4.72179358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17710568099999 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:55.96, Y:10.45, Z:4.72 [[ 9.68364662e-01 -2.35287437e-01 -8.31246240e-02 5.59598227e+01] [ 2.34861638e-01 9.71913005e-01 -1.50040875e-02 1.04485308e+01] [ 8.43201764e-02 -4.99335727e-03 9.96426201e-01 4.71975566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237105680999996 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:10.47, Z:4.72 [[ 9.68731083e-01 -2.33776285e-01 -8.31188094e-02 5.60159853e+01] [ 2.33342202e-01 9.72278421e-01 -1.50362307e-02 1.04740265e+01] [ 8.43297389e-02 -4.82906192e-03 9.96426202e-01 4.71725658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297105681 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:10.51, Z:4.72 [[ 9.69326336e-01 -2.31297523e-01 -8.31138414e-02 5.60697353e+01] [ 2.30852024e-01 9.72872258e-01 -1.50636414e-02 1.05072755e+01] [ 8.43433335e-02 -4.58541417e-03 9.96426202e-01 4.72347024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35710568099999 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:56.12, Y:10.53, Z:4.74 [[ 9.69398997e-01 -2.30993049e-01 -8.31131503e-02 5.61229501e+01] [ 2.30546110e-01 9.72944738e-01 -1.50674536e-02 1.05287016e+01] [ 8.43449793e-02 -4.55503907e-03 9.96426202e-01 4.73521285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417105680999995 meters Centerline goodness : 0.997956 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:10.56, Z:4.74 [[ 9.67961978e-01 -2.36943489e-01 -8.31107275e-02 5.61759162e+01] [ 2.36517197e-01 9.71510260e-01 -1.50808059e-02 1.05600469e+01] [ 8.43162232e-02 -5.05946958e-03 9.96426202e-01 4.74421424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477105681 meters Centerline goodness : 0.997554 with order 1 Centerline is valid? [True, True] Translation: X:56.23, Y:10.59, Z:4.74 [[ 9.67101851e-01 -2.40431941e-01 -8.31053091e-02 5.62335654e+01] [ 2.40015895e-01 9.70651348e-01 -1.51106063e-02 1.05865163e+01] [ 8.42993527e-02 -5.33309986e-03 9.96426203e-01 4.74230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53710568099999 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:10.61, Z:4.74 [[ 9.66743644e-01 -2.41867979e-01 -8.31059973e-02 5.62930749e+01] [ 2.41457529e-01 9.70293794e-01 -1.51068205e-02 1.06112115e+01] [ 8.42910895e-02 -5.46214601e-03 9.96426203e-01 4.73929634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597105680999995 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:10.64, Z:4.75 [[ 9.66611608e-01 -2.42394627e-01 -8.31074252e-02 5.63489666e+01] [ 2.41986784e-01 9.70162058e-01 -1.50989607e-02 1.06428170e+01] [ 8.42875776e-02 -5.51606783e-03 9.96426203e-01 4.74541076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657105681 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:10.67, Z:4.75 [[ 9.64536283e-01 -2.50525046e-01 -8.31081236e-02 5.64050679e+01] [ 2.50147442e-01 9.68090076e-01 -1.50951160e-02 1.06693355e+01] [ 8.42378543e-02 -6.22949747e-03 9.96426203e-01 4.74861795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71710568099999 meters Centerline goodness : 0.995609 with order 1 Centerline is valid? [True, True] Translation: X:56.46, Y:10.70, Z:4.75 [[ 9.63106713e-01 -2.55965944e-01 -8.31077332e-02 5.64588813e+01] [ 2.55608223e-01 9.66662562e-01 -1.50972651e-02 1.06973573e+01] [ 8.42015200e-02 -6.70274262e-03 9.96426203e-01 4.75439538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777105680999995 meters Centerline goodness : 0.995701 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:10.73, Z:4.76 [[ 9.63358937e-01 -2.55016814e-01 -8.31022429e-02 5.65150800e+01] [ 2.54653005e-01 9.66914168e-01 -1.51274262e-02 1.07261421e+01] [ 8.42104841e-02 -6.58909457e-03 9.96426203e-01 4.76020886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837105681 meters Centerline goodness : 0.996025 with order 1 Centerline is valid? [True, True] Translation: X:56.57, Y:10.76, Z:4.76 [[ 9.65103205e-01 -2.48333873e-01 -8.31028896e-02 5.65734251e+01] [ 2.47945736e-01 9.68655863e-01 -1.51238723e-02 1.07565223e+01] [ 8.42538710e-02 -6.00890951e-03 9.96426203e-01 4.76365576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89710568099999 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:56.63, Y:10.78, Z:4.77 [[ 9.65821970e-01 -2.45521745e-01 -8.31083311e-02 5.66326598e+01] [ 2.45125827e-01 9.69373768e-01 -1.50939112e-02 1.07839620e+01] [ 8.42689195e-02 -5.79396736e-03 9.96426204e-01 4.77159205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957105680999994 meters Centerline goodness : 0.997753 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:10.81, Z:4.78 [[ 9.67684918e-01 -2.38071488e-01 -8.31135781e-02 5.66912761e+01] [ 2.37650688e-01 9.71233853e-01 -1.50649636e-02 1.08075057e+01] [ 8.43092591e-02 -5.17386093e-03 9.96426204e-01 4.78075696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017105681 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:56.75, Y:10.83, Z:4.79 [[ 9.70600473e-01 -2.25889481e-01 -8.31183746e-02 5.67511715e+01] [ 2.25426370e-01 9.74144136e-01 -1.50384538e-02 1.08286804e+01] [ 8.43663056e-02 -4.14074309e-03 9.96426204e-01 4.78509267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07710568099999 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:10.86, Z:4.80 [[ 9.76499589e-01 -1.98844159e-01 -8.31237228e-02 5.68075877e+01] [ 1.98285322e-01 9.80029421e-01 -1.50088334e-02 1.08614091e+01] [ 8.44481128e-02 -1.82609449e-03 9.96426205e-01 4.79574724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137105680999994 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:10.88, Z:4.80 [[ 9.79894627e-01 -1.81373102e-01 -8.31283248e-02 5.68683580e+01] [ 1.80753481e-01 9.83414297e-01 -1.49833019e-02 1.08799719e+01] [ 8.44671510e-02 -3.43677067e-04 9.96426205e-01 4.80245449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197105681 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:10.89, Z:4.81 [[ 9.81303769e-01 -1.73584889e-01 -8.31336265e-02 5.69299649e+01] [ 1.72939831e-01 9.84818866e-01 -1.49538279e-02 1.08886084e+01] [ 8.44673223e-02 2.97132404e-04 9.96426206e-01 4.80994946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25710568099999 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:10.89, Z:4.82 [[ 9.81519958e-01 -1.72356025e-01 -8.31382761e-02 5.69931377e+01] [ 1.71708759e-01 9.85034649e-01 -1.49279330e-02 1.08943969e+01] [ 8.44670018e-02 3.76493980e-04 9.96426206e-01 4.81742609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317105680999994 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:10.89, Z:4.82 [[ 9.80509890e-01 -1.78009750e-01 -8.31437596e-02 5.70578522e+01] [ 1.77385345e-01 9.84028714e-01 -1.48973292e-02 1.08929079e+01] [ 8.44677166e-02 -1.41505862e-04 9.96426206e-01 4.81848468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377105680999996 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:10.89, Z:4.82 [[ 9.78472479e-01 -1.88885672e-01 -8.31493247e-02 5.71224722e+01] [ 1.88303020e-01 9.81998456e-01 -1.48662028e-02 1.08868866e+01] [ 8.44605212e-02 -1.11109867e-03 9.96426207e-01 4.81912722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:10.89, Z:4.82 [[ 9.77152512e-01 -1.95597459e-01 -8.31540893e-02 5.71858280e+01] [ 1.95041294e-01 9.80682763e-01 -1.48395040e-02 1.08868825e+01] [ 8.44503514e-02 -1.71802259e-03 9.96426207e-01 4.81915019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497105680999994 meters Centerline goodness : 0.996977 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:10.88, Z:4.82 [[ 9.75582560e-01 -2.03281235e-01 -8.31589283e-02 5.72484539e+01] [ 2.02755184e-01 9.79117424e-01 -1.48123373e-02 1.08831937e+01] [ 8.44334259e-02 -2.41024589e-03 9.96426208e-01 4.82209510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557105680999996 meters Centerline goodness : 0.996640 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:10.89, Z:4.83 [[ 9.75992127e-01 -2.01304557e-01 -8.31615491e-02 5.73101228e+01] [ 2.00772600e-01 9.79526107e-01 -1.47976087e-02 1.08854858e+01] [ 8.44377345e-02 -2.25421079e-03 9.96426208e-01 4.82882395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters Centerline goodness : 0.995981 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:10.88, Z:4.84 [[ 9.80268360e-01 -1.79325586e-01 -8.31641538e-02 5.73732119e+01] [ 1.78715606e-01 9.83789711e-01 -1.47829554e-02 1.08826998e+01] [ 8.44670010e-02 -3.71468763e-04 9.96426208e-01 4.83867354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67710568099999 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:10.88, Z:4.85 [[ 9.83016763e-01 -1.63589562e-01 -8.31654926e-02 5.74363146e+01] [ 1.62923854e-01 9.86528005e-01 -1.47754197e-02 1.08823840e+01] [ 8.44621920e-02 9.74842705e-04 9.96426208e-01 4.84544697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737105680999996 meters Centerline goodness : 0.995387 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:10.88, Z:4.85 [[ 9.83305616e-01 -1.61843583e-01 -8.31668209e-02 5.74991035e+01] [ 1.61172272e-01 9.86815792e-01 -1.47679396e-02 1.08812117e+01] [ 8.44604285e-02 1.11721239e-03 9.96426208e-01 4.85337524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797105681 meters Centerline goodness : 0.995974 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:10.87, Z:4.86 [[ 9.83663589e-01 -1.59652721e-01 -8.31682136e-02 5.75630733e+01] [ 1.58974256e-01 9.87172389e-01 -1.47600925e-02 1.08741724e+01] [ 8.44578530e-02 1.29736065e-03 9.96426208e-01 4.85829851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85710568099999 meters Centerline goodness : 0.996687 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:10.87, Z:4.86 [[ 9.82984503e-01 -1.63781193e-01 -8.31696343e-02 5.76259784e+01] [ 1.63118143e-01 9.86496248e-01 -1.47520826e-02 1.08686446e+01] [ 8.44626459e-02 9.34592267e-04 9.96426208e-01 4.86142907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917105680999995 meters Centerline goodness : 0.996917 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:10.86, Z:4.87 [[ 9.82661838e-01 -1.65705612e-01 -8.31706860e-02 5.76892111e+01] [ 1.65049942e-01 9.86174968e-01 -1.47461507e-02 1.08644439e+01] [ 8.44643686e-02 7.63162697e-04 9.96426208e-01 4.86812157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977105681 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:10.86, Z:4.87 [[ 9.83646851e-01 -1.59753799e-01 -8.31720834e-02 5.77525605e+01] [ 1.59077540e-01 9.87156077e-01 -1.47382651e-02 1.08596809e+01] [ 8.44583213e-02 1.26643766e-03 9.96426208e-01 4.87104042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03710568099999 meters Centerline goodness : 0.996959 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:10.86, Z:4.88 [[ 9.85539040e-01 -1.47631603e-01 -8.31727778e-02 5.78141507e+01] [ 1.46912523e-01 9.89039741e-01 -1.47343451e-02 1.08571936e+01] [ 8.44364376e-02 2.30214972e-03 9.96426208e-01 4.87524482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097105680999995 meters Centerline goodness : 0.997269 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:10.86, Z:4.88 [[ 9.86285574e-01 -1.42558952e-01 -8.31727778e-02 5.78745055e+01] [ 1.41821869e-01 9.89782530e-01 -1.47343451e-02 1.08567487e+01] [ 8.44234752e-02 2.73655322e-03 9.96426208e-01 4.87728192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157105681 meters Centerline goodness : 0.997671 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:10.85, Z:4.87 [[ 9.85576316e-01 -1.47382938e-01 -8.31720748e-02 5.79355796e+01] [ 1.46662639e-01 9.89076768e-01 -1.47383124e-02 1.08454308e+01] [ 8.44357427e-02 2.32749563e-03 9.96426208e-01 4.87141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21710568099999 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:10.84, Z:4.88 [[ 9.84098084e-01 -1.56951128e-01 -8.31703389e-02 5.79953529e+01] [ 1.56264045e-01 9.87605205e-01 -1.47481021e-02 1.08381822e+01] [ 8.44541909e-02 1.51704545e-03 9.96426208e-01 4.88366658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277105680999995 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:10.83, Z:4.90 [[ 9.82713271e-01 -1.65402909e-01 -8.31655300e-02 5.80556248e+01] [ 1.64743701e-01 9.86225739e-01 -1.47751702e-02 1.08268573e+01] [ 8.44638423e-02 8.18758647e-04 9.96426208e-01 4.89851750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:58.12, Y:10.83, Z:4.91 [[ 9.81308440e-01 -1.73545446e-01 -8.31608317e-02 5.81150573e+01] [ 1.72913147e-01 9.84825851e-01 -1.48015669e-02 1.08257835e+01] [ 8.44676814e-02 1.45301427e-04 9.96426209e-01 4.90898587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39710568099999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:10.83, Z:4.92 [[ 9.79750152e-01 -1.82139325e-01 -8.31559139e-02 5.81736495e+01] [ 1.81535538e-01 9.83272569e-01 -1.48291442e-02 1.08286652e+01] [ 8.44658994e-02 -5.66897286e-04 9.96426209e-01 4.91703100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457105680999994 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:10.83, Z:4.92 [[ 9.79948938e-01 -1.81069031e-01 -8.31509780e-02 5.82332492e+01] [ 1.80459053e-01 9.83470288e-01 -1.48567697e-02 1.08310025e+01] [ 8.44666172e-02 -4.46471086e-04 9.96426210e-01 4.92128829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:10.84, Z:4.93 [[ 9.83061736e-01 -1.63328959e-01 -8.31460992e-02 5.82910869e+01] [ 1.62653135e-01 9.86571043e-01 -1.48840244e-02 1.08351835e+01] [ 8.44605260e-02 1.10794119e-03 9.96426210e-01 4.93092822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57710568099999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:10.83, Z:4.94 [[ 9.84624976e-01 -1.53627192e-01 -8.31404962e-02 5.83500997e+01] [ 1.52914160e-01 9.88126912e-01 -1.49152566e-02 1.08326867e+01] [ 8.44447508e-02 1.97257501e-03 9.96426211e-01 4.93850725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.41, Y:10.83, Z:4.94 [[ 9.84945127e-01 -1.51562006e-01 -8.31387685e-02 5.84097155e+01] [ 1.50840819e-01 9.88445393e-01 -1.49248807e-02 1.08327350e+01] [ 8.44401776e-02 2.15946854e-03 9.96426211e-01 4.93963131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.47, Y:10.83, Z:4.93 [[ 9.84834688e-01 -1.52280606e-01 -8.31339562e-02 5.84694066e+01] [ 1.51559717e-01 9.88335014e-01 -1.49516384e-02 1.08302237e+01] [ 8.44410444e-02 2.12513326e-03 9.96426211e-01 4.93378067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:10.83, Z:4.94 [[ 9.84400874e-01 -1.55061105e-01 -8.31322669e-02 5.85293906e+01] [ 1.54349310e-01 9.87903061e-01 -1.49610251e-02 1.08295186e+01] [ 8.44464940e-02 1.89623807e-03 9.96426211e-01 4.93989587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.59, Y:10.83, Z:4.95 [[ 9.83954123e-01 -1.57873772e-01 -8.31273437e-02 5.85879939e+01] [ 1.57169683e-01 9.87457868e-01 -1.49883304e-02 1.08313364e+01] [ 8.44510138e-02 1.68273117e-03 9.96426211e-01 4.95488874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.65, Y:10.83, Z:4.97 [[ 9.82334728e-01 -1.67655905e-01 -8.31262930e-02 5.86466691e+01] [ 1.66986220e-01 9.85845210e-01 -1.49941550e-02 1.08296118e+01] [ 8.44635164e-02 8.48333792e-04 9.96426211e-01 4.96847010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:10.83, Z:4.97 [[ 9.80889617e-01 -1.75914837e-01 -8.31235747e-02 5.87052788e+01] [ 1.75273435e-01 9.84405377e-01 -1.50092098e-02 1.08295836e+01] [ 8.44676366e-02 1.53023682e-04 9.96426211e-01 4.97048047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.76, Y:10.83, Z:4.97 [[ 9.83400014e-01 -1.61294239e-01 -8.31178680e-02 5.87639351e+01] [ 1.60597909e-01 9.86905308e-01 -1.50407463e-02 1.08344879e+01] [ 8.44554508e-02 1.44251436e-03 9.96426212e-01 4.96562415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:10.84, Z:4.97 [[ 9.85260853e-01 -1.49508393e-01 -8.31161307e-02 5.88223455e+01] [ 1.48769336e-01 9.88757388e-01 -1.50503405e-02 1.08403634e+01] [ 8.44318405e-02 2.46337978e-03 9.96426212e-01 4.97098991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.88, Y:10.84, Z:4.98 [[ 9.84979093e-01 -1.51356201e-01 -8.31112879e-02 5.88814653e+01] [ 1.50621453e-01 9.88476535e-01 -1.50770364e-02 1.08433836e+01] [ 8.44355608e-02 2.33222277e-03 9.96426212e-01 4.97912552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:10.85, Z:4.98 [[ 9.84257872e-01 -1.55980024e-01 -8.31063979e-02 5.89389650e+01] [ 1.55259436e-01 9.87758259e-01 -1.51039424e-02 1.08488109e+01] [ 8.44449442e-02 1.96312174e-03 9.96426213e-01 4.98304935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.00, Y:10.86, Z:4.98 [[ 9.84177515e-01 -1.56489247e-01 -8.31007528e-02 5.89983959e+01] [ 1.55767855e-01 9.87677735e-01 -1.51349381e-02 1.08556287e+01] [ 8.44452184e-02 1.95103975e-03 9.96426213e-01 4.98197787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:10.86, Z:4.99 [[ 9.83914435e-01 -1.58137343e-01 -8.30961186e-02 5.90566991e+01] [ 1.57419669e-01 9.87415420e-01 -1.51603392e-02 1.08614755e+01] [ 8.44478046e-02 1.83551311e-03 9.96426214e-01 4.98744119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:10.87, Z:4.99 [[ 9.82773219e-01 -1.65083958e-01 -8.30908352e-02 5.91146249e+01] [ 1.64388591e-01 9.86278702e-01 -1.51892414e-02 1.08675985e+01] [ 8.44582212e-02 1.26839431e-03 9.96426214e-01 4.98778866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:10.87, Z:4.99 [[ 9.79839483e-01 -1.81688752e-01 -8.30890191e-02 5.91726933e+01] [ 1.81051956e-01 9.83356077e-01 -1.51991693e-02 1.08740526e+01] [ 8.44676100e-02 -1.50683174e-04 9.96426214e-01 4.99258167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:10.88, Z:5.01 [[ 9.74773642e-01 -2.07155505e-01 -8.30839542e-02 5.92303923e+01] [ 2.06608191e-01 9.78305269e-01 -1.52268059e-02 1.08821090e+01] [ 8.44357869e-02 -2.32313643e-03 9.96426214e-01 5.00695353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:10.90, Z:5.02 [[ 9.69732665e-01 -2.29599354e-01 -8.30824631e-02 5.92864176e+01] [ 2.29133006e-01 9.73275892e-01 -1.52349375e-02 1.08967107e+01] [ 8.43600902e-02 -4.26311795e-03 9.96426215e-01 5.01882493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:10.92, Z:5.02 [[ 9.67590258e-01 -2.38468648e-01 -8.30770513e-02 5.93412192e+01] [ 2.38032241e-01 9.71137297e-01 -1.52643920e-02 1.09176467e+01] [ 8.43193020e-02 -5.00533975e-03 9.96426215e-01 5.02209718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.39, Y:10.94, Z:5.03 [[ 9.66139489e-01 -2.44280556e-01 -8.30752502e-02 5.93945110e+01] [ 2.43864640e-01 9.69688990e-01 -1.52741880e-02 1.09436645e+01] [ 8.42883425e-02 -5.50211979e-03 9.96426215e-01 5.03391092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:59.45, Y:10.98, Z:5.04 [[ 9.66630089e-01 -2.42334072e-01 -8.30690602e-02 5.94472425e+01] [ 2.41908132e-01 9.70178400e-01 -1.53077788e-02 1.09769893e+01] [ 8.43014042e-02 -5.29812162e-03 9.96426216e-01 5.03688295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.50, Y:11.01, Z:5.04 [[ 9.69696638e-01 -2.29756976e-01 -8.30672087e-02 5.94986866e+01] [ 2.29284122e-01 9.73239003e-01 -1.53178193e-02 1.10101101e+01] [ 8.43636232e-02 -4.19235404e-03 9.96426216e-01 5.04372318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:11.05, Z:5.04 [[ 9.75244878e-01 -2.04933924e-01 -8.30633150e-02 5.95525072e+01] [ 2.04369022e-01 9.78773733e-01 -1.53389043e-02 1.10462980e+01] [ 8.44436528e-02 -2.01638058e-03 9.96426216e-01 5.03697011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89710568099999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:59.61, Y:11.08, Z:5.04 [[ 9.79905240e-01 -1.81346193e-01 -8.30619013e-02 5.96058295e+01] [ 1.80695672e-01 9.83419319e-01 -1.53465563e-02 1.10826236e+01] [ 8.44677179e-02 2.92448543e-05 9.96426216e-01 5.03968852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957105680999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:59.66, Y:11.10, Z:5.04 [[ 9.81255449e-01 -1.73894480e-01 -8.30569328e-02 5.96609833e+01] [ 1.73215001e-01 9.84764044e-01 -1.53733990e-02 1.11045401e+01] [ 8.44648303e-02 6.98524859e-04 9.96426216e-01 5.04047907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017105681 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:59.72, Y:11.12, Z:5.05 [[ 9.81512634e-01 -1.72439591e-01 -8.30514130e-02 5.97178416e+01] [ 1.71752393e-01 9.85019725e-01 -1.54031615e-02 1.11206376e+01] [ 8.44633948e-02 8.54118642e-04 9.96426217e-01 5.04714166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07710568099999 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:11.13, Z:5.05 [[ 9.81078153e-01 -1.74897099e-01 -8.30461434e-02 5.97738506e+01] [ 1.74216286e-01 9.84586489e-01 -1.54315206e-02 1.11334994e+01] [ 8.44650389e-02 6.71537006e-04 9.96426217e-01 5.04982540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137105680999994 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:11.14, Z:5.06 [[ 9.80167333e-01 -1.79932327e-01 -8.30443084e-02 5.98302208e+01] [ 1.79268701e-01 9.83678960e-01 -1.54413893e-02 1.11443537e+01] [ 8.44673440e-02 2.47900083e-04 9.96426217e-01 5.05876660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:11.15, Z:5.06 [[ 9.79470922e-01 -1.83688181e-01 -8.30383295e-02 5.98888802e+01] [ 1.83035301e-01 9.82984563e-01 -1.54734748e-02 1.11506223e+01] [ 8.44676905e-02 -4.31269808e-05 9.96426218e-01 5.06444290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25710568099999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:11.15, Z:5.07 [[ 9.76654753e-01 -1.98118488e-01 -8.30334726e-02 5.99465779e+01] [ 1.97515304e-01 9.80177265e-01 -1.54994945e-02 1.11525727e+01] [ 8.44582585e-02 -1.26272659e-03 9.96426218e-01 5.07219992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.00, Y:11.16, Z:5.07 [[ 9.76875562e-01 -1.97027633e-01 -8.30316059e-02 6.00045822e+01] [ 1.96419667e-01 9.80397251e-01 -1.55094883e-02 1.11585954e+01] [ 8.44597559e-02 -1.15820025e-03 9.96426218e-01 5.07024121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.06, Y:11.16, Z:5.08 [[ 9.81019304e-01 -1.75234474e-01 -8.30301430e-02 6.00629921e+01] [ 1.74547606e-01 9.84526458e-01 -1.55173158e-02 1.11631031e+01] [ 8.44645413e-02 7.30073632e-04 9.96426218e-01 5.08434232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.12, Y:11.17, Z:5.09 [[ 9.83514128e-01 -1.60642931e-01 -8.30289682e-02 6.01197857e+01] [ 1.59903513e-01 9.87010580e-01 -1.55235994e-02 1.11699744e+01] [ 8.44442265e-02 1.99105564e-03 9.96426218e-01 5.09143733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:11.17, Z:5.09 [[ 9.85269784e-01 -1.49501341e-01 -8.30228997e-02 6.01797997e+01] [ 1.48719672e-01 9.88757033e-01 -1.55559876e-02 1.11700108e+01] [ 8.44151169e-02 2.97970614e-03 9.96426219e-01 5.09241767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:11.17, Z:5.09 [[ 9.87531449e-01 -1.33752475e-01 -8.30175496e-02 6.02398932e+01] [ 1.32912843e-01 9.91005197e-01 -1.55844869e-02 1.11657451e+01] [ 8.43552868e-02 4.35607243e-03 9.96426219e-01 5.09253502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:11.16, Z:5.10 [[ 9.88271658e-01 -1.28169921e-01 -8.30156692e-02 6.02995598e+01] [ 1.27309834e-01 9.91740398e-01 -1.55944972e-02 1.11628753e+01] [ 8.43287383e-02 4.84288848e-03 9.96426219e-01 5.09793590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:11.16, Z:5.11 [[ 9.88772033e-01 -1.24254804e-01 -8.30097061e-02 6.03600304e+01] [ 1.23378337e-01 9.92236670e-01 -1.56261746e-02 1.11558525e+01] [ 8.43069016e-02 5.20912497e-03 9.96426220e-01 5.10658159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.42, Y:11.14, Z:5.11 [[ 9.88928681e-01 -1.23005341e-01 -8.30045180e-02 6.04226298e+01] [ 1.22122197e-01 9.92391622e-01 -1.56536853e-02 1.11409550e+01] [ 8.42984751e-02 5.34368418e-03 9.96426220e-01 5.11059458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.48, Y:11.13, Z:5.11 [[ 9.88596590e-01 -1.25649817e-01 -8.29994324e-02 6.04835536e+01] [ 1.24773686e-01 9.92061312e-01 -1.56806040e-02 1.11312176e+01] [ 8.43107908e-02 5.14564652e-03 9.96426220e-01 5.10969877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:11.11, Z:5.12 [[ 9.86564645e-01 -1.40718117e-01 -8.29976639e-02 6.05460631e+01] [ 1.39894164e-01 9.90042145e-01 -1.56899594e-02 1.11115868e+01] [ 8.43790467e-02 3.86827044e-03 9.96426221e-01 5.12094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:11.10, Z:5.14 [[ 9.83274544e-01 -1.62121595e-01 -8.29925272e-02 6.06071365e+01] [ 1.61371109e-01 9.86768635e-01 -1.57170831e-02 1.10997352e+01] [ 8.44425014e-02 2.06161151e-03 9.96426221e-01 5.13901629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:11.10, Z:5.14 [[ 9.79261589e-01 -1.84821996e-01 -8.29913870e-02 6.06669024e+01] [ 1.84152022e-01 9.82772007e-01 -1.57231017e-02 1.10963213e+01] [ 8.44675870e-02 1.13997768e-04 9.96426221e-01 5.13719501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:11.10, Z:5.14 [[ 9.78294620e-01 -1.89874630e-01 -8.29895285e-02 6.07259734e+01] [ 1.89221955e-01 9.81808295e-01 -1.57329052e-02 1.11000401e+01] [ 8.44670870e-02 -3.12024327e-04 9.96426221e-01 5.14355626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:11.11, Z:5.15 [[ 9.80593821e-01 -1.77621544e-01 -8.29840006e-02 6.07825838e+01] [ 1.76922502e-01 9.84098566e-01 -1.57620086e-02 1.11121326e+01] [ 8.44641083e-02 7.74391216e-04 9.96426221e-01 5.14996144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:11.12, Z:5.15 [[ 9.83083998e-01 -1.63278368e-01 -8.29820931e-02 6.08397443e+01] [ 1.62527357e-01 9.86577975e-01 -1.57720446e-02 1.11242500e+01] [ 8.44435391e-02 2.01838431e-03 9.96426221e-01 5.15459160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:11.14, Z:5.16 [[ 9.85226306e-01 -1.49813092e-01 -8.29768833e-02 6.08967665e+01] [ 1.49012048e-01 9.88709153e-01 -1.57994063e-02 1.11362992e+01] [ 8.44069618e-02 3.20143535e-03 9.96426222e-01 5.16205666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:11.15, Z:5.15 [[ 9.85926866e-01 -1.45134122e-01 -8.29716939e-02 6.09546575e+01] [ 1.44314267e-01 9.89405332e-01 -1.58266118e-02 1.11475853e+01] [ 8.43896178e-02 3.62988260e-03 9.96426222e-01 5.15414878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:11.15, Z:5.16 [[ 9.85800649e-01 -1.45989990e-01 -8.29698935e-02 6.10116929e+01] [ 1.45172363e-01 9.89279639e-01 -1.58360450e-02 1.11544199e+01] [ 8.43923303e-02 3.56624796e-03 9.96426222e-01 5.16248452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:11.16, Z:5.18 [[ 9.84377330e-01 -1.55300404e-01 -8.29641909e-02 6.10686890e+01] [ 1.54513183e-01 9.87863326e-01 -1.58658643e-02 1.11608134e+01] [ 8.44212567e-02 2.79893591e-03 9.96426223e-01 5.17839185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:11.17, Z:5.18 [[ 9.82641373e-01 -1.65931686e-01 -8.29614873e-02 6.11263192e+01] [ 1.65181000e-01 9.86135418e-01 -1.58799889e-02 1.11663582e+01] [ 8.44462543e-02 1.90067266e-03 9.96426223e-01 5.18352420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.19, Y:11.17, Z:5.18 [[ 9.81639056e-01 -1.71762763e-01 -8.29597304e-02 6.11852390e+01] [ 1.71032060e-01 9.85137335e-01 -1.58891620e-02 1.11732665e+01] [ 8.44558941e-02 1.40864838e-03 9.96426223e-01 5.18460684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:11.18, Z:5.19 [[ 9.81763380e-01 -1.71053193e-01 -8.29546345e-02 6.12438165e+01] [ 1.70317718e-01 9.85260658e-01 -1.59157225e-02 1.11763352e+01] [ 8.44543730e-02 1.49682949e-03 9.96426223e-01 5.18515162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:11.18, Z:5.19 [[ 9.82613483e-01 -1.66101065e-01 -8.29528766e-02 6.13029509e+01] [ 1.65347194e-01 9.86106842e-01 -1.59248794e-02 1.11811008e+01] [ 8.44455386e-02 1.93197587e-03 9.96426223e-01 5.18757530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:11.19, Z:5.19 [[ 9.85360773e-01 -1.48942158e-01 -8.29480565e-02 6.13597608e+01] [ 1.48125382e-01 9.88839962e-01 -1.59499468e-02 1.11908122e+01] [ 8.43979725e-02 3.42973933e-03 9.96426224e-01 5.19121449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:11.20, Z:5.20 [[ 9.86486389e-01 -1.41298185e-01 -8.29423148e-02 6.14172655e+01] [ 1.40451960e-01 9.89958532e-01 -1.59797489e-02 1.11967156e+01] [ 8.43673617e-02 4.11439405e-03 9.96426224e-01 5.19869982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:11.21, Z:5.21 [[ 9.86376479e-01 -1.42064437e-01 -8.29405677e-02 6.14740223e+01] [ 1.41220148e-01 9.89849093e-01 -1.59888119e-02 1.12084671e+01] [ 8.43700873e-02 4.05810867e-03 9.96426224e-01 5.20607592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.53, Y:11.21, Z:5.21 [[ 9.86005106e-01 -1.44620464e-01 -8.29388482e-02 6.15327180e+01] [ 1.43784431e-01 9.89479717e-01 -1.59977264e-02 1.12129493e+01] [ 8.43799067e-02 3.84852480e-03 9.96426224e-01 5.20902507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.59, Y:11.22, Z:5.22 [[ 9.85725400e-01 -1.46517717e-01 -8.29336725e-02 6.15911562e+01] [ 1.45686122e-01 9.89201076e-01 -1.60245134e-02 1.12196307e+01] [ 8.43859531e-02 3.71348471e-03 9.96426225e-01 5.21757053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:11.22, Z:5.22 [[ 9.86162737e-01 -1.43547584e-01 -8.29285703e-02 6.16508225e+01] [ 1.42703312e-01 9.89635354e-01 -1.60508744e-02 1.12217956e+01] [ 8.43731093e-02 3.99459260e-03 9.96426225e-01 5.22139550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:11.23, Z:5.22 [[ 9.86160266e-01 -1.43567542e-01 -8.29234076e-02 6.17105143e+01] [ 1.42721106e-01 9.89632356e-01 -1.60775023e-02 1.12267781e+01] [ 8.43718947e-02 4.02007349e-03 9.96426225e-01 5.22213548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:11.22, Z:5.23 [[ 9.85281302e-01 -1.49483272e-01 -8.29186746e-02 6.17709998e+01] [ 1.48655641e-01 9.88757923e-01 -1.61018759e-02 1.12240801e+01] [ 8.43934575e-02 3.53854848e-03 9.96426226e-01 5.22694243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:11.23, Z:5.24 [[ 9.84289121e-01 -1.55885392e-01 -8.29136393e-02 6.18300294e+01] [ 1.55078202e-01 9.87770543e-01 -1.61277624e-02 1.12307065e+01] [ 8.44137332e-02 3.01628302e-03 9.96426226e-01 5.23816006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.89, Y:11.24, Z:5.24 [[ 9.81701668e-01 -1.71427197e-01 -8.29129101e-02 6.18887210e+01] [ 1.70674832e-01 9.85195349e-01 -1.61315106e-02 1.12353012e+01] [ 8.44507931e-02 1.68518392e-03 9.96426226e-01 5.24031494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:11.24, Z:5.25 [[ 9.77804602e-01 -1.92417489e-01 -8.29075992e-02 6.19468220e+01] [ 1.91737826e-01 9.81313151e-01 -1.61587598e-02 1.12403144e+01] [ 8.44675454e-02 -9.64130846e-05 9.96426226e-01 5.25239791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35710568099999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:62.00, Y:11.25, Z:5.26 [[ 9.74760787e-01 -2.07288718e-01 -8.29023219e-02 6.20047674e+01] [ 2.06660276e-01 9.78278872e-01 -1.61857901e-02 1.12508479e+01] [ 8.44567216e-02 -1.35534322e-03 9.96426227e-01 5.25881081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417105680999995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:11.27, Z:5.26 [[ 9.75158537e-01 -2.05411561e-01 -8.28970295e-02 6.20616324e+01] [ 2.04774047e-01 9.78674989e-01 -1.62128504e-02 1.12699731e+01] [ 8.44595563e-02 -1.16506066e-03 9.96426227e-01 5.25893240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:11.29, Z:5.27 [[ 9.76892192e-01 -1.97004066e-01 -8.28917517e-02 6.21176065e+01] [ 1.96333999e-01 9.80402586e-01 -1.62397896e-02 1.12888887e+01] [ 8.44665923e-02 -4.09945394e-04 9.96426227e-01 5.26525299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:11.32, Z:5.27 [[ 9.79951027e-01 -1.81179067e-01 -8.28862527e-02 6.21712751e+01] [ 1.80449945e-01 9.83449630e-01 -1.62678082e-02 1.13186541e+01] [ 8.44618409e-02 9.84835581e-04 9.96426228e-01 5.26781166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:11.34, Z:5.28 [[ 9.78975022e-01 -1.86383487e-01 -8.28800481e-02 6.22257554e+01] [ 1.85670295e-01 9.82476907e-01 -1.62993579e-02 1.13381803e+01] [ 8.44656644e-02 5.68301321e-04 9.96426228e-01 5.27671005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:11.36, Z:5.29 [[ 9.75189068e-01 -2.05274565e-01 -8.28772282e-02 6.22815980e+01] [ 2.04627987e-01 9.78703863e-01 -1.63136834e-02 1.13575092e+01] [ 8.44610476e-02 -1.05007472e-03 9.96426228e-01 5.28776480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:11.38, Z:5.29 [[ 9.71721907e-01 -2.21108023e-01 -8.28720565e-02 6.23373473e+01] [ 2.20516461e-01 9.75246378e-01 -1.63399132e-02 1.13794498e+01] [ 8.44335589e-02 -2.39680096e-03 9.96426229e-01 5.28554673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777105680999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:11.41, Z:5.30 [[ 9.72336705e-01 -2.18390591e-01 -8.28666481e-02 6.23896519e+01] [ 2.17786846e-01 9.75859109e-01 -1.63672958e-02 1.14110731e+01] [ 8.44406368e-02 -2.13274343e-03 9.96426229e-01 5.29943074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:11.44, Z:5.30 [[ 9.76472486e-01 -1.99085275e-01 -8.28645715e-02 6.24428284e+01] [ 1.98410977e-01 9.79982067e-01 -1.63778027e-02 1.14413641e+01] [ 8.44663734e-02 -4.48766870e-04 9.96426229e-01 5.29980852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:11.47, Z:5.30 [[ 9.80268093e-01 -1.79466608e-01 -8.28625482e-02 6.24960136e+01] [ 1.78721212e-01 9.83763265e-01 -1.63880328e-02 1.14715523e+01] [ 8.44582356e-02 1.25537060e-03 9.96426229e-01 5.30174606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:11.49, Z:5.30 [[ 9.82765356e-01 -1.65248446e-01 -8.28565359e-02 6.25510876e+01] [ 1.64449944e-01 9.86248778e-01 -1.64183747e-02 1.14946446e+01] [ 8.44302682e-02 2.50965711e-03 9.96426230e-01 5.30272449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:11.51, Z:5.31 [[ 9.82908650e-01 -1.64395427e-01 -8.28536653e-02 6.26061191e+01] [ 1.63592684e-01 9.86391096e-01 -1.64328484e-02 1.15138011e+01] [ 8.44276029e-02 2.59773531e-03 9.96426230e-01 5.30632147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07710568099999 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:11.53, Z:5.30 [[ 9.82492132e-01 -1.66867600e-01 -8.28517609e-02 6.26625623e+01] [ 1.66072811e-01 9.85976403e-01 -1.64424445e-02 1.15294001e+01] [ 8.44335924e-02 2.39514750e-03 9.96426230e-01 5.30052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137105680999994 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:11.54, Z:5.32 [[ 9.81858237e-01 -1.70558742e-01 -8.28499739e-02 6.27196291e+01] [ 1.69776295e-01 9.85345300e-01 -1.64514435e-02 1.15438511e+01] [ 8.44417699e-02 2.08702367e-03 9.96426230e-01 5.31614126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:11.56, Z:5.32 [[ 9.80458037e-01 -1.78432186e-01 -8.28492147e-02 6.27769761e+01] [ 1.77677423e-01 9.83951197e-01 -1.64552661e-02 1.15559216e+01] [ 8.44557331e-02 1.41326301e-03 9.96426230e-01 5.32463082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25710568099999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:11.57, Z:5.33 [[ 9.78247947e-01 -1.90178481e-01 -8.28438264e-02 6.28322399e+01] [ 1.89463373e-01 9.81749440e-01 -1.64823492e-02 1.15698785e+01] [ 8.44664683e-02 4.27953469e-04 9.96426230e-01 5.33141898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317105680999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:62.89, Y:11.58, Z:5.33 [[ 9.76275514e-01 -2.00058494e-01 -8.28415310e-02 6.28907787e+01] [ 1.99377844e-01 9.79783868e-01 -1.64938779e-02 1.15822313e+01] [ 8.44665360e-02 -4.14196683e-04 9.96426230e-01 5.32806594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.95, Y:11.59, Z:5.33 [[ 9.75231769e-01 -2.05088042e-01 -8.28365365e-02 6.29483808e+01] [ 2.04423357e-01 9.78743182e-01 -1.65189238e-02 1.15942797e+01] [ 8.44635290e-02 -8.23943572e-04 9.96426231e-01 5.32783880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:11.61, Z:5.34 [[ 9.74885139e-01 -2.06731665e-01 -8.28310623e-02 6.30046295e+01] [ 2.06070572e-01 9.78397229e-01 -1.65463276e-02 1.16063927e+01] [ 8.44623317e-02 -9.38275564e-04 9.96426231e-01 5.33954729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497105680999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:11.63, Z:5.35 [[ 9.78650912e-01 -1.88100359e-01 -8.28290236e-02 6.30588826e+01] [ 1.87371538e-01 9.82149575e-01 -1.65565270e-02 1.16250510e+01] [ 8.44647790e-02 6.83258745e-04 9.96426231e-01 5.35245113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557105680999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:11.64, Z:5.36 [[ 9.82346111e-01 -1.67737783e-01 -8.28260443e-02 6.31148178e+01] [ 1.66935214e-01 9.85828597e-01 -1.65714181e-02 1.16436387e+01] [ 8.44319359e-02 2.45228470e-03 9.96426231e-01 5.36083263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:11.66, Z:5.36 [[ 9.82418198e-01 -1.67317916e-01 -8.28202792e-02 6.31706350e+01] [ 1.66511436e-01 9.85899780e-01 -1.66001808e-02 1.16555337e+01] [ 8.44300027e-02 2.51779605e-03 9.96426232e-01 5.36351141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:11.66, Z:5.36 [[ 9.82654470e-01 -1.65926854e-01 -8.28158917e-02 6.32290938e+01] [ 1.65113605e-01 9.86134476e-01 -1.66220408e-02 1.16649350e+01] [ 8.44256489e-02 2.65969230e-03 9.96426232e-01 5.36340011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737105680999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.29, Y:11.67, Z:5.37 [[ 9.84245769e-01 -1.56213632e-01 -8.28104310e-02 6.32879346e+01] [ 1.55363771e-01 9.87717016e-01 -1.66492016e-02 1.16682311e+01] [ 8.43941040e-02 3.52116535e-03 9.96426232e-01 5.36803811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.35, Y:11.68, Z:5.37 [[ 9.84498163e-01 -1.54617936e-01 -8.28049582e-02 6.33452690e+01] [ 1.53760168e-01 9.87967464e-01 -1.66763765e-02 1.16783450e+01] [ 8.43870714e-02 3.68575776e-03 9.96426233e-01 5.37238473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.41, Y:11.68, Z:5.38 [[ 9.84643489e-01 -1.53693196e-01 -8.27985590e-02 6.34051534e+01] [ 1.52829509e-01 9.88111320e-01 -1.67080886e-02 1.16756680e+01] [ 8.43821130e-02 3.79744748e-03 9.96426233e-01 5.37553093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917105680999995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:63.47, Y:11.67, Z:5.38 [[ 9.82943421e-01 -1.64216171e-01 -8.27966158e-02 6.34665773e+01] [ 1.63388816e-01 9.86420100e-01 -1.67177123e-02 1.16708017e+01] [ 8.44175647e-02 2.90452425e-03 9.96426233e-01 5.37989105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.53, Y:11.67, Z:5.39 [[ 9.79695997e-01 -1.82596035e-01 -8.27915550e-02 6.35251436e+01] [ 1.81831822e-01 9.83187098e-01 -1.67427377e-02 1.16669300e+01] [ 8.44567462e-02 1.34865376e-03 9.96426234e-01 5.39236875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.58, Y:11.67, Z:5.39 [[ 9.75230654e-01 -2.05112437e-01 -8.27892459e-02 6.35840176e+01] [ 2.04427867e-01 9.78738242e-01 -1.67541480e-02 1.16674380e+01] [ 8.44654851e-02 -5.85270301e-04 9.96426234e-01 5.39326784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.64, Y:11.68, Z:5.41 [[ 9.73093129e-01 -2.15025585e-01 -8.27874412e-02 6.36415269e+01] [ 2.14375985e-01 9.76607361e-01 -1.67630608e-02 1.16759711e+01] [ 8.44553114e-02 -1.43561998e-03 9.96426234e-01 5.40872550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.70, Y:11.69, Z:5.42 [[ 9.73075300e-01 -2.15106741e-01 -8.27861672e-02 6.36976293e+01] [ 2.14456899e-01 9.76589488e-01 -1.67693503e-02 1.16946145e+01] [ 8.44553009e-02 -1.43622420e-03 9.96426234e-01 5.41793121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.75, Y:11.72, Z:5.43 [[ 9.73658722e-01 -2.12452646e-01 -8.27802248e-02 6.37532715e+01] [ 2.11790735e-01 9.77170656e-01 -1.67986337e-02 1.17151352e+01] [ 8.44593207e-02 -1.17594848e-03 9.96426234e-01 5.42751318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.81, Y:11.74, Z:5.43 [[ 9.75128991e-01 -2.05601255e-01 -8.27742373e-02 6.38075548e+01] [ 2.04912167e-01 9.78635693e-01 -1.68280849e-02 1.17363933e+01] [ 8.44656985e-02 -5.51894875e-04 9.96426235e-01 5.43332351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:11.76, Z:5.43 [[ 9.77920421e-01 -1.91886479e-01 -8.27721510e-02 6.38628283e+01] [ 1.91147343e-01 9.81416916e-01 -1.68383410e-02 1.17558559e+01] [ 8.44650391e-02 6.44880803e-04 9.96426235e-01 5.43053757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.92, Y:11.78, Z:5.42 [[ 9.79697479e-01 -1.82597795e-01 -8.27701319e-02 6.39182312e+01] [ 1.81824675e-01 9.83186617e-01 -1.68482600e-02 1.17791105e+01] [ 8.44549411e-02 1.45654556e-03 9.96426235e-01 5.42096004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.98, Y:11.80, Z:5.42 [[ 9.80154359e-01 -1.80130134e-01 -8.27681501e-02 6.39754205e+01] [ 1.79347409e-01 9.83641355e-01 -1.68579903e-02 1.17960099e+01] [ 8.44508073e-02 1.67917944e-03 9.96426235e-01 5.42322259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.03, Y:11.81, Z:5.43 [[ 9.80334719e-01 -1.79146301e-01 -8.27673907e-02 6.40307241e+01] [ 1.78359762e-01 9.83820857e-01 -1.68617179e-02 1.18118324e+01] [ 8.44489996e-02 1.76775537e-03 9.96426235e-01 5.42913792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.09, Y:11.83, Z:5.44 [[ 9.78910378e-01 -1.86775577e-01 -8.27608390e-02 6.40869743e+01] [ 1.86013498e-01 9.82401943e-01 -1.68938142e-02 1.18296163e+01] [ 8.44597609e-02 1.14289689e-03 9.96426235e-01 5.43820007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:11.84, Z:5.44 [[ 9.77154120e-01 -1.95758533e-01 -8.27551951e-02 6.41442193e+01] [ 1.95026217e-01 9.80652049e-01 -1.69214161e-02 1.18415097e+01] [ 8.44665632e-02 3.95398868e-04 9.96426236e-01 5.43911348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:11.86, Z:5.44 [[ 9.76798738e-01 -1.97526922e-01 -8.27486639e-02 6.42008101e+01] [ 1.96798238e-01 9.80297424e-01 -1.69532950e-02 1.18575438e+01] [ 8.44670342e-02 2.75165938e-04 9.96426236e-01 5.44480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:11.87, Z:5.45 [[ 9.76306516e-01 -1.99948037e-01 -8.27427884e-02 6.42572619e+01] [ 1.99225603e-01 9.79806498e-01 -1.69819226e-02 1.18740656e+01] [ 8.44674239e-02 9.50797859e-05 9.96426237e-01 5.44550780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:11.89, Z:5.45 [[ 9.74737643e-01 -2.07463579e-01 -8.27368790e-02 6.43141316e+01] [ 2.06765690e-01 9.78242601e-01 -1.70106653e-02 1.18881697e+01] [ 8.44658332e-02 -5.26212117e-04 9.96426237e-01 5.45154769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.37, Y:11.90, Z:5.46 [[ 9.73223608e-01 -2.14456094e-01 -8.27308454e-02 6.43702496e+01] [ 2.13780896e-01 9.76733008e-01 -1.70399592e-02 1.19012787e+01] [ 8.44602705e-02 -1.10258372e-03 9.96426238e-01 5.46172015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.43, Y:11.92, Z:5.46 [[ 9.75595546e-01 -2.03394411e-01 -8.27287432e-02 6.44268842e+01] [ 2.02678554e-01 9.79096878e-01 -1.70501596e-02 1.19196966e+01] [ 8.44673613e-02 -1.33282361e-04 9.96426238e-01 5.46463445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:11.94, Z:5.47 [[ 9.78349548e-01 -1.89706556e-01 -8.27259628e-02 6.44819928e+01] [ 1.88940577e-01 9.81840257e-01 -1.70636392e-02 1.19377085e+01] [ 8.44607648e-02 1.06391255e-03 9.96426238e-01 5.46592772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:11.96, Z:5.47 [[ 9.80959377e-01 -1.75716385e-01 -8.27191248e-02 6.45366245e+01] [ 1.74897849e-01 9.84438136e-01 -1.70967236e-02 1.19576321e+01] [ 8.44360355e-02 2.30379431e-03 9.96426238e-01 5.46675623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:11.97, Z:5.48 [[ 9.81726025e-01 -1.71382328e-01 -8.27170482e-02 6.45941358e+01] [ 1.70547591e-01 9.85200933e-01 -1.71067645e-02 1.19659277e+01] [ 8.44247102e-02 2.68696260e-03 9.96426238e-01 5.48077036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:11.97, Z:5.48 [[ 9.81357458e-01 -1.73480923e-01 -8.27158312e-02 6.46525948e+01] [ 1.72653122e-01 9.84834025e-01 -1.71126473e-02 1.19736498e+01] [ 8.44300828e-02 2.51247755e-03 9.96426238e-01 5.48331497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:11.98, Z:5.48 [[ 9.82519895e-01 -1.66774377e-01 -8.27101091e-02 6.47112060e+01] [ 1.65920530e-01 9.85990157e-01 -1.71402594e-02 1.19791934e+01] [ 8.44099095e-02 3.11734080e-03 9.96426239e-01 5.48397663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:11.98, Z:5.49 [[ 9.83873561e-01 -1.58596378e-01 -8.27043163e-02 6.47707647e+01] [ 1.57711355e-01 9.87336003e-01 -1.71681652e-02 1.19831599e+01] [ 8.43797579e-02 3.84789400e-03 9.96426239e-01 5.48665502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:11.98, Z:5.49 [[ 9.84153028e-01 -1.56855917e-01 -8.26984784e-02 6.48303267e+01] [ 1.55962418e-01 9.87613292e-01 -1.71962405e-02 1.19847865e+01] [ 8.43714485e-02 4.02587755e-03 9.96426240e-01 5.49461874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:11.98, Z:5.50 [[ 9.83787070e-01 -1.59138031e-01 -8.26927371e-02 6.48911784e+01] [ 1.58250247e-01 9.87248803e-01 -1.72238051e-02 1.19802826e+01] [ 8.43792681e-02 3.85841065e-03 9.96426240e-01 5.50015396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:11.98, Z:5.51 [[ 9.83806828e-01 -1.59018806e-01 -8.26870280e-02 6.49513013e+01] [ 1.58128308e-01 9.87267864e-01 -1.72511693e-02 1.19799744e+01] [ 8.43775059e-02 3.89665837e-03 9.96426240e-01 5.50574350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:11.97, Z:5.51 [[ 9.83225706e-01 -1.62576130e-01 -8.26813929e-02 6.50129540e+01] [ 1.61695893e-01 9.86689366e-01 -1.72781355e-02 1.19724967e+01] [ 8.43898635e-02 3.61906530e-03 9.96426241e-01 5.50660607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:11.97, Z:5.52 [[ 9.82564523e-01 -1.66528228e-01 -8.26759222e-02 6.50743078e+01] [ 1.65659729e-01 9.86031144e-01 -1.73042732e-02 1.19655426e+01] [ 8.44026841e-02 3.30649405e-03 9.96426241e-01 5.51636833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:11.96, Z:5.52 [[ 9.82753517e-01 -1.65412011e-01 -8.26703765e-02 6.51339310e+01] [ 1.64537353e-01 9.86218589e-01 -1.73307274e-02 1.19635391e+01] [ 8.43977725e-02 3.42946841e-03 9.96426241e-01 5.52431535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:11.96, Z:5.53 [[ 9.82951476e-01 -1.64234314e-01 -8.26649080e-02 6.51948462e+01] [ 1.63353318e-01 9.86414941e-01 -1.73567721e-02 1.19586611e+01] [ 8.43924779e-02 3.55727772e-03 9.96426242e-01 5.53037716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:11.96, Z:5.53 [[ 9.82918775e-01 -1.64432619e-01 -8.26595116e-02 6.52537735e+01] [ 1.63550168e-01 9.86381870e-01 -1.73824339e-02 1.19603342e+01] [ 8.43920828e-02 3.56654368e-03 9.96426242e-01 5.53471324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:11.96, Z:5.54 [[ 9.83173475e-01 -1.62906027e-01 -8.26531634e-02 6.53136713e+01] [ 1.62015671e-01 9.86634545e-01 -1.74125674e-02 1.19564351e+01] [ 8.43850785e-02 3.72846673e-03 9.96426243e-01 5.53615904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.37, Y:11.96, Z:5.54 [[ 9.83705976e-01 -1.59662372e-01 -8.26467177e-02 6.53743643e+01] [ 1.58758045e-01 9.87163422e-01 -1.74431082e-02 1.19551629e+01] [ 8.43708246e-02 4.03805852e-03 9.96426243e-01 5.53758056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957105681 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:65.43, Y:11.95, Z:5.55 [[ 9.84203803e-01 -1.56567308e-01 -8.26410997e-02 6.54344520e+01] [ 1.55649885e-01 9.87657797e-01 -1.74696842e-02 1.19479299e+01] [ 8.43563079e-02 4.33065198e-03 9.96426244e-01 5.54572348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:65.49, Y:11.95, Z:5.54 [[ 9.84565778e-01 -1.54275738e-01 -8.26391342e-02 6.54948613e+01] [ 1.53349499e-01 9.88017417e-01 -1.74789771e-02 1.19491779e+01] [ 8.43454860e-02 4.53653291e-03 9.96426244e-01 5.54402108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:65.55, Y:11.95, Z:5.55 [[ 9.83764938e-01 -1.59305364e-01 -8.26338167e-02 6.55548573e+01] [ 1.58394674e-01 9.87220712e-01 -1.75040801e-02 1.19487574e+01] [ 8.43663093e-02 4.13114384e-03 9.96426244e-01 5.54537654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13710568100001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.61, Y:11.95, Z:5.55 [[ 9.82101525e-01 -1.69260533e-01 -8.26284843e-02 6.56137047e+01] [ 1.68382777e-01 9.85565811e-01 -1.75292161e-02 1.19486236e+01] [ 8.44028136e-02 3.30225619e-03 9.96426244e-01 5.55218776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:65.67, Y:11.95, Z:5.56 [[ 9.80798909e-01 -1.76653620e-01 -8.26256571e-02 6.56716582e+01] [ 1.75800863e-01 9.84269433e-01 -1.75425323e-02 1.19531608e+01] [ 8.44248605e-02 2.68003470e-03 9.96426244e-01 5.55915462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:11.96, Z:5.56 [[ 9.78672640e-01 -1.88079362e-01 -8.26197195e-02 6.57313054e+01] [ 1.87264780e-01 9.82152321e-01 -1.75704524e-02 1.19574112e+01] [ 8.44497887e-02 1.72395750e-03 9.96426245e-01 5.55961889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:11.96, Z:5.56 [[ 9.75615693e-01 -2.03344395e-01 -8.26140173e-02 6.57890077e+01] [ 2.02582002e-01 9.79107180e-01 -1.75972224e-02 1.19611858e+01] [ 8.44662741e-02 4.32013321e-04 9.96426245e-01 5.56472985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:11.97, Z:5.58 [[ 9.71323095e-01 -2.22950006e-01 -8.26119828e-02 6.58462418e+01] [ 2.22257267e-01 9.74829067e-01 -1.76067687e-02 1.19699345e+01] [ 8.44579913e-02 -1.25925236e-03 9.96426245e-01 5.58133822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:11.98, Z:5.59 [[ 9.68364349e-01 -2.35471199e-01 -8.26063006e-02 6.59017393e+01] [ 2.34821511e-01 9.71878553e-01 -1.76333878e-02 1.19848024e+01] [ 8.44354469e-02 -2.32219224e-03 9.96426246e-01 5.58867767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:12.00, Z:5.59 [[ 9.67540772e-01 -2.38834934e-01 -8.25998096e-02 6.59568455e+01] [ 2.38194873e-01 9.71056741e-01 -1.76637414e-02 1.20041431e+01] [ 8.44278205e-02 -2.58446120e-03 9.96426246e-01 5.59080223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:12.03, Z:5.60 [[ 9.67149185e-01 -2.40418043e-01 -8.25930881e-02 6.60108369e+01] [ 2.39781060e-01 9.70665713e-01 -1.76951146e-02 1.20292501e+01] [ 8.44245036e-02 -2.69044252e-03 9.96426247e-01 5.59721704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:12.06, Z:5.60 [[ 9.65319131e-01 -2.47666042e-01 -8.25863602e-02 6.60630165e+01] [ 2.47052778e-01 9.68839872e-01 -1.77264598e-02 1.20595043e+01] [ 8.44032008e-02 -3.29149895e-03 9.96426247e-01 5.60268632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:12.08, Z:5.61 [[ 9.63804010e-01 -2.53500401e-01 -8.25795237e-02 6.61173680e+01] [ 2.52905726e-01 9.67327937e-01 -1.77582511e-02 1.20829350e+01] [ 8.43832041e-02 -3.76936072e-03 9.96426248e-01 5.60583581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:66.17, Y:12.12, Z:5.61 [[ 9.62875053e-01 -2.57008581e-01 -8.25725256e-02 6.61689155e+01] [ 2.56423964e-01 9.66400663e-01 -1.77907319e-02 1.21211550e+01] [ 8.43705142e-02 -4.04332235e-03 9.96426248e-01 5.60843467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:12.15, Z:5.61 [[ 9.62759550e-01 -2.57443151e-01 -8.25655645e-02 6.62213848e+01] [ 2.56857366e-01 9.66284966e-01 -1.78229796e-02 1.21539590e+01] [ 8.43702677e-02 -4.04832954e-03 9.96426249e-01 5.61373597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:12.19, Z:5.62 [[ 9.62558158e-01 -2.58197377e-01 -8.25585072e-02 6.62727796e+01] [ 2.57611562e-01 9.66083568e-01 -1.78556106e-02 1.21910096e+01] [ 8.43686890e-02 -4.08096235e-03 9.96426249e-01 5.61761378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:12.23, Z:5.63 [[ 9.62243284e-01 -2.59370586e-01 -8.25515643e-02 6.63246154e+01] [ 2.58786327e-01 9.65768952e-01 -1.78876524e-02 1.22254839e+01] [ 8.43652686e-02 -4.15094273e-03 9.96426250e-01 5.62790840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.37, Y:12.27, Z:5.63 [[ 9.63795211e-01 -2.53544972e-01 -8.25453675e-02 6.63745130e+01] [ 2.52936956e-01 9.67316859e-01 -1.79162028e-02 1.22696249e+01] [ 8.43900888e-02 -3.61122353e-03 9.96426250e-01 5.63462374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.42, Y:12.31, Z:5.64 [[ 9.67199424e-01 -2.40234633e-01 -8.25384476e-02 6.64242532e+01] [ 2.39575413e-01 9.70711847e-01 -1.79480259e-02 1.23072732e+01] [ 8.44327863e-02 -2.41486235e-03 9.96426251e-01 5.64402363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.48, Y:12.34, Z:5.64 [[ 9.71062053e-01 -2.24112434e-01 -8.25354876e-02 6.64755156e+01] [ 2.23393722e-01 9.74562787e-01 -1.79616276e-02 1.23412157e+01] [ 8.44614388e-02 -9.96054836e-04 9.96426251e-01 5.64053975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.53, Y:12.37, Z:5.64 [[ 9.75383936e-01 -2.04486057e-01 -8.25326014e-02 6.65304147e+01] [ 2.03695780e-01 9.78869211e-01 -1.79748798e-02 1.23683908e+01] [ 8.44642347e-02 7.20866395e-04 9.96426251e-01 5.64035210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.59, Y:12.40, Z:5.64 [[ 9.76984559e-01 -1.96699039e-01 -8.25267163e-02 6.65850006e+01] [ 1.95878707e-01 9.80462883e-01 -1.80018592e-02 1.23954527e+01] [ 8.44553306e-02 1.42231197e-03 9.96426251e-01 5.63722061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.64, Y:12.41, Z:5.64 [[ 9.76745132e-01 -1.97886989e-01 -8.25208206e-02 6.66396698e+01] [ 1.97068609e-01 9.80223915e-01 -1.80288446e-02 1.24145186e+01] [ 8.44565557e-02 1.34732286e-03 9.96426252e-01 5.64286331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.70, Y:12.43, Z:5.65 [[ 9.73523842e-01 -2.13171251e-01 -8.25187638e-02 6.66963191e+01] [ 2.12406696e-01 9.77014850e-01 -1.80382540e-02 1.24263609e+01] [ 8.44672948e-02 3.31323977e-05 9.96426252e-01 5.65426938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:12.44, Z:5.66 [[ 9.71776248e-01 -2.21003471e-01 -8.25129663e-02 6.67531628e+01] [ 2.20264804e-01 9.75272824e-01 -1.80647348e-02 1.24352109e+01] [ 8.44650228e-02 -6.19822128e-04 9.96426252e-01 5.66236664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:12.45, Z:5.66 [[ 9.71090953e-01 -2.23996215e-01 -8.25109545e-02 6.68107717e+01] [ 2.23267543e-01 9.74589625e-01 -1.80739190e-02 1.24457627e+01] [ 8.44628097e-02 -8.70598862e-04 9.96426252e-01 5.66387579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:12.46, Z:5.67 [[ 9.71733970e-01 -2.21192078e-01 -8.25054970e-02 6.68683245e+01] [ 2.20451197e-01 9.75230077e-01 -1.80987982e-02 1.24581167e+01] [ 8.44651529e-02 -6.01218582e-04 9.96426252e-01 5.66527764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:12.47, Z:5.67 [[ 9.73992028e-01 -2.11029357e-01 -8.24993279e-02 6.69252528e+01] [ 2.10249619e-01 9.77479675e-01 -1.81268749e-02 1.24716455e+01] [ 8.44667190e-02 3.09979415e-04 9.96426253e-01 5.67341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:12.48, Z:5.68 [[ 9.74344757e-01 -2.09397239e-01 -8.24929767e-02 6.69822626e+01] [ 2.08609215e-01 9.77830540e-01 -1.81557328e-02 1.24837843e+01] [ 8.44659123e-02 4.81147971e-04 9.96426253e-01 5.67769903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:12.49, Z:5.68 [[ 9.75273865e-01 -2.05029146e-01 -8.24859773e-02 6.70403288e+01] [ 2.04222826e-01 9.78755461e-01 -1.81874775e-02 1.24917109e+01] [ 8.44625637e-02 8.92252100e-04 9.96426254e-01 5.67562892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.10, Y:12.50, Z:5.68 [[ 9.75581658e-01 -2.03560419e-01 -8.24838380e-02 6.70979645e+01] [ 2.02748038e-01 9.79061845e-01 -1.81971744e-02 1.24993594e+01] [ 8.44610031e-02 1.02939326e-03 9.96426254e-01 5.68455054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:12.51, Z:5.69 [[ 9.74515328e-01 -2.08607899e-01 -8.24779981e-02 6.71555585e+01] [ 2.07811307e-01 9.77999162e-01 -1.82236054e-02 1.25076083e+01] [ 8.44650010e-02 6.19322295e-04 9.96426254e-01 5.69344889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.21, Y:12.52, Z:5.69 [[ 9.69994728e-01 -2.28710755e-01 -8.24719254e-02 6.72145568e+01] [ 2.27984026e-01 9.73493802e-01 -1.82510467e-02 1.25150800e+01] [ 8.44601189e-02 -1.09886255e-03 9.96426255e-01 5.68870396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:12.53, Z:5.70 [[ 9.65182714e-01 -2.48235794e-01 -8.24701064e-02 6.72711133e+01] [ 2.47579113e-01 9.68695609e-01 -1.82592624e-02 1.25250305e+01] [ 8.44210324e-02 -2.79435133e-03 9.96426255e-01 5.69913863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99710568100001 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:12.54, Z:5.71 [[ 9.62582436e-01 -2.58136162e-01 -8.24668169e-02 6.73254389e+01] [ 2.57514328e-01 9.66101665e-01 -1.82741071e-02 1.25423497e+01] [ 8.43885370e-02 -3.64605242e-03 9.96426255e-01 5.71143013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.38, Y:12.56, Z:5.71 [[ 9.64148076e-01 -2.52226224e-01 -8.24646492e-02 6.73807722e+01] [ 2.51581977e-01 9.67663272e-01 -1.82838838e-02 1.25626752e+01] [ 8.44096873e-02 -3.11824815e-03 9.96426255e-01 5.71314485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:12.59, Z:5.72 [[ 9.67437056e-01 -2.39303355e-01 -8.24587558e-02 6.74356409e+01] [ 2.38609872e-01 9.70942870e-01 -1.83104241e-02 1.25858772e+01] [ 8.44444870e-02 -1.96129031e-03 9.96426255e-01 5.71702507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:12.61, Z:5.72 [[ 9.70520924e-01 -2.26474320e-01 -8.24531238e-02 6.74899981e+01] [ 2.25732331e-01 9.74016794e-01 -1.83357507e-02 1.26059905e+01] [ 8.44633039e-02 -8.17106095e-04 9.96426255e-01 5.72225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:12.63, Z:5.74 [[ 9.71302907e-01 -2.23099407e-01 -8.24458414e-02 6.75446248e+01] [ 2.22342497e-01 9.74795576e-01 -1.83684376e-02 1.26258405e+01] [ 8.44658290e-02 -4.89897400e-04 9.96426256e-01 5.73561174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:12.64, Z:5.74 [[ 9.71581616e-01 -2.21884939e-01 -8.24392913e-02 6.75993521e+01] [ 2.21121172e-01 9.75072791e-01 -1.83977885e-02 1.26407112e+01] [ 8.44665020e-02 -3.54119653e-04 9.96426256e-01 5.74127164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:12.66, Z:5.74 [[ 9.73976480e-01 -2.11125772e-01 -8.24361908e-02 6.76568092e+01] [ 2.10322265e-01 9.77458723e-01 -1.84116705e-02 1.26564808e+01] [ 8.44651519e-02 5.94367626e-04 9.96426257e-01 5.73916097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:12.67, Z:5.74 [[ 9.77580025e-01 -1.93759062e-01 -8.24300997e-02 6.77139986e+01] [ 1.92891416e-01 9.81046843e-01 -1.84389007e-02 1.26713003e+01] [ 8.44404932e-02 2.12544232e-03 9.96426257e-01 5.73820614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:12.68, Z:5.74 [[ 9.78611738e-01 -1.88481795e-01 -8.24237837e-02 6.77718136e+01] [ 1.87593085e-01 9.82073216e-01 -1.84670909e-02 1.26795345e+01] [ 8.44269007e-02 2.60998009e-03 9.96426257e-01 5.74155803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.83, Y:12.68, Z:5.74 [[ 9.77697934e-01 -1.93168952e-01 -8.24166597e-02 6.78314174e+01] [ 1.92294166e-01 9.81162956e-01 -1.84988302e-02 1.26830825e+01] [ 8.44375731e-02 2.23802528e-03 9.96426258e-01 5.74307664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.89, Y:12.68, Z:5.75 [[ 9.76063837e-01 -2.01265776e-01 -8.24103951e-02 6.78898128e+01] [ 2.00417387e-01 9.79535417e-01 -1.85266964e-02 1.26843225e+01] [ 8.44526906e-02 1.56676229e-03 9.96426258e-01 5.75226426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:12.68, Z:5.76 [[ 9.72617043e-01 -2.17313497e-01 -8.24071056e-02 6.79505536e+01] [ 2.16521158e-01 9.76101843e-01 -1.85413168e-02 1.26810562e+01] [ 8.44670060e-02 1.90718775e-04 9.96426258e-01 5.76330701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:12.69, Z:5.76 [[ 9.69475044e-01 -2.30929046e-01 -8.24009346e-02 6.80095903e+01] [ 2.30183317e-01 9.72970115e-01 -1.85687013e-02 1.26872945e+01] [ 8.44616993e-02 -9.65427976e-04 9.96426259e-01 5.76328422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:12.70, Z:5.77 [[ 9.68480777e-01 -2.35066207e-01 -8.23945544e-02 6.80669066e+01] [ 2.34333004e-01 9.71978496e-01 -1.85969693e-02 1.26960731e+01] [ 8.44572541e-02 -1.29695620e-03 9.96426259e-01 5.76682290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:12.71, Z:5.77 [[ 9.67663502e-01 -2.38409382e-01 -8.23912244e-02 6.81233980e+01] [ 2.37687007e-01 9.71163473e-01 -1.86117106e-02 1.27095942e+01] [ 8.44525541e-02 -1.57345051e-03 9.96426259e-01 5.77155660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.18, Y:12.72, Z:5.78 [[ 9.64142110e-01 -2.52273722e-01 -8.23890790e-02 6.81813068e+01] [ 2.51600847e-01 9.67651934e-01 -1.86212029e-02 1.27195975e+01] [ 8.44215918e-02 -2.77567616e-03 9.96426259e-01 5.77928027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:12.73, Z:5.79 [[ 9.60669077e-01 -2.65194237e-01 -8.23828927e-02 6.82377960e+01] [ 2.64566202e-01 9.64187200e-01 -1.86485320e-02 1.27342978e+01] [ 8.43780139e-02 -3.88066105e-03 9.96426260e-01 5.78863199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:12.76, Z:5.80 [[ 9.59258638e-01 -2.70253341e-01 -8.23771656e-02 6.82922624e+01] [ 2.69641691e-01 9.62779646e-01 -1.86737968e-02 1.27561520e+01] [ 8.43577143e-02 -4.29931734e-03 9.96426260e-01 5.79974030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:12.78, Z:5.80 [[ 9.59050030e-01 -2.70994578e-01 -8.23709860e-02 6.83464105e+01] [ 2.70383318e-01 9.62571106e-01 -1.87010156e-02 1.27809062e+01] [ 8.43558049e-02 -4.33653093e-03 9.96426261e-01 5.80016202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.40, Y:12.82, Z:5.80 [[ 9.60148954e-01 -2.67077072e-01 -8.23639744e-02 6.83977970e+01] [ 2.66448805e-01 9.63667034e-01 -1.87318459e-02 1.28157191e+01] [ 8.43742935e-02 -3.96042030e-03 9.96426261e-01 5.80247874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.45, Y:12.85, Z:5.81 [[ 9.62087678e-01 -2.60007363e-01 -8.23618351e-02 6.84493164e+01] [ 2.59352431e-01 9.65600892e-01 -1.87412475e-02 1.28486641e+01] [ 8.44015238e-02 -3.33001887e-03 9.96426261e-01 5.80962626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:12.88, Z:5.81 [[ 9.66220522e-01 -2.44203950e-01 -8.23549271e-02 6.85031755e+01] [ 2.43488943e-01 9.69722003e-01 -1.87715544e-02 1.28777761e+01] [ 8.44454726e-02 -1.91505309e-03 9.96426262e-01 5.81186994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:12.91, Z:5.83 [[ 9.71335959e-01 -2.22991355e-01 -8.23487153e-02 6.85548299e+01] [ 2.22197553e-01 9.74820421e-01 -1.87987659e-02 1.29092813e+01] [ 8.44671716e-02 -3.77657411e-05 9.96426262e-01 5.82683594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:12.94, Z:5.83 [[ 9.75658515e-01 -2.03249153e-01 -8.23422420e-02 6.86082350e+01] [ 2.02382468e-01 9.79125568e-01 -1.88270775e-02 1.29361926e+01] [ 8.44499820e-02 1.70417226e-03 9.96426262e-01 5.82597375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:12.95, Z:5.82 [[ 9.76249720e-01 -2.00393239e-01 -8.23348899e-02 6.86660514e+01] [ 1.99513707e-01 9.79713536e-01 -1.88591754e-02 1.29470843e+01] [ 8.44438573e-02 1.98432565e-03 9.96426263e-01 5.81901071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49710568100001 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:12.96, Z:5.82 [[ 9.75556925e-01 -2.03742142e-01 -8.23275500e-02 6.87250414e+01] [ 2.02871804e-01 9.79023062e-01 -1.88911627e-02 1.29559452e+01] [ 8.44494960e-02 1.72746603e-03 9.96426263e-01 5.81750475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.78, Y:12.96, Z:5.82 [[ 9.74210585e-01 -2.10088002e-01 -8.23211292e-02 6.87825726e+01] [ 2.09237883e-01 9.77681735e-01 -1.89191014e-02 1.29630560e+01] [ 8.44585406e-02 1.20649003e-03 9.96426264e-01 5.82048072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:12.97, Z:5.83 [[ 9.71595966e-01 -2.21867215e-01 -8.23177822e-02 6.88408041e+01] [ 2.21057951e-01 9.75076868e-01 -1.89336533e-02 1.29680263e+01] [ 8.44669222e-02 1.98860916e-04 9.96426264e-01 5.83377006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:12.97, Z:5.84 [[ 9.68008251e-01 -2.37033434e-01 -8.23114713e-02 6.88990903e+01] [ 2.36276371e-01 9.71500877e-01 -1.89610493e-02 1.29730466e+01] [ 8.44600692e-02 -1.09380361e-03 9.96426264e-01 5.84250373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:12.99, Z:5.85 [[ 9.65178536e-01 -2.48306774e-01 -8.23051609e-02 6.89552372e+01] [ 2.47588165e-01 9.68679277e-01 -1.89884019e-02 1.29853513e+01] [ 8.44422525e-02 -2.05058576e-03 9.96426265e-01 5.84806651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:13.00, Z:5.85 [[ 9.63228553e-01 -2.55768888e-01 -8.22984277e-02 6.90132266e+01] [ 2.55074906e-01 9.66734258e-01 -1.90175401e-02 1.29980151e+01] [ 8.44248045e-02 -2.67402609e-03 9.96426265e-01 5.84743176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:13.02, Z:5.85 [[ 9.60662888e-01 -2.65244888e-01 -8.22919500e-02 6.90685824e+01] [ 2.64583080e-01 9.64174809e-01 -1.90455291e-02 1.30154553e+01] [ 8.43955544e-02 -3.47672454e-03 9.96426266e-01 5.85321938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.12, Y:13.03, Z:5.87 [[ 9.59373756e-01 -2.69872653e-01 -8.22845539e-02 6.91238758e+01] [ 2.69225051e-01 9.62888324e-01 -1.90774299e-02 1.30322149e+01] [ 8.43793128e-02 -3.85067761e-03 9.96426266e-01 5.86832010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.18, Y:13.06, Z:5.87 [[ 9.63761805e-01 -2.53758806e-01 -8.22778976e-02 6.91772702e+01] [ 2.53049958e-01 9.67264533e-01 -1.91060946e-02 1.30569647e+01] [ 8.44328319e-02 -2.40669434e-03 9.96426267e-01 5.87173779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:13.09, Z:5.87 [[ 9.70166033e-01 -2.28053956e-01 -8.22755242e-02 6.92296643e+01] [ 2.27251395e-01 9.73648484e-01 -1.91163098e-02 1.30882011e+01] [ 8.44669894e-02 -1.51233166e-04 9.96426267e-01 5.87234023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097105681 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:13.12, Z:5.86 [[ 9.73425665e-01 -2.13715845e-01 -8.22679271e-02 6.92833806e+01] [ 2.12859234e-01 9.76895217e-01 -1.91489487e-02 1.31180321e+01] [ 8.44595782e-02 1.12859012e-03 9.96426267e-01 5.86189484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:13.14, Z:5.86 [[ 9.73534770e-01 -2.13219655e-01 -8.22643957e-02 6.93393705e+01] [ 2.12359996e-01 9.77003567e-01 -1.91641078e-02 1.31354859e+01] [ 8.44587724e-02 1.18725853e-03 9.96426267e-01 5.86374031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217105681 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:69.40, Y:13.15, Z:5.87 [[ 9.73223222e-01 -2.14639528e-01 -8.22583305e-02 6.93978445e+01] [ 2.13782733e-01 9.76692727e-01 -1.91901060e-02 1.31453680e+01] [ 8.44600685e-02 1.09084612e-03 9.96426268e-01 5.86553644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:69.46, Y:13.15, Z:5.88 [[ 9.69731650e-01 -2.29901400e-01 -8.22549329e-02 6.94551746e+01] [ 2.29097979e-01 9.73213901e-01 -1.92046585e-02 1.31546798e+01] [ 8.44668220e-02 -2.21073712e-04 9.96426268e-01 5.88208791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:13.16, Z:5.88 [[ 9.67863448e-01 -2.37645992e-01 -8.22479680e-02 6.95125192e+01] [ 2.36867902e-01 9.71351447e-01 -1.92344411e-02 1.31628713e+01] [ 8.44626705e-02 -8.65591142e-04 9.96426268e-01 5.88370192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:69.57, Y:13.17, Z:5.89 [[ 9.64100117e-01 -2.52482449e-01 -8.22409670e-02 6.95700108e+01] [ 2.51755471e-01 9.67599126e-01 -1.92643291e-02 1.31701991e+01] [ 8.44401927e-02 -2.13187146e-03 9.96426269e-01 5.89399811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:69.63, Y:13.18, Z:5.90 [[ 9.63329574e-01 -2.55409155e-01 -8.22331822e-02 6.96250915e+01] [ 2.54689978e-01 9.66830193e-01 -1.92975029e-02 1.31844939e+01] [ 8.44342823e-02 -2.35411209e-03 9.96426269e-01 5.89735957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:13.20, Z:5.91 [[ 9.62779415e-01 -2.57477921e-01 -8.22248000e-02 6.96821896e+01] [ 2.56763223e-01 9.66280951e-01 -1.93331529e-02 1.31973003e+01] [ 8.44301180e-02 -2.49874302e-03 9.96426270e-01 5.90595260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:13.22, Z:5.92 [[ 9.64866235e-01 -2.49546390e-01 -8.22176834e-02 6.97377514e+01] [ 2.48800328e-01 9.68361222e-01 -1.93633705e-02 1.32163450e+01] [ 8.44484756e-02 -1.77272419e-03 9.96426270e-01 5.91576971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:13.24, Z:5.92 [[ 9.73060681e-01 -2.15393235e-01 -8.22111043e-02 6.97905415e+01] [ 2.14522131e-01 9.76526617e-01 -1.93912634e-02 1.32416488e+01] [ 8.44580786e-02 1.23277469e-03 9.96426271e-01 5.91651113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:13.25, Z:5.91 [[ 9.75391612e-01 -2.04582191e-01 -8.22029836e-02 6.98469518e+01] [ 2.03669785e-01 9.78846905e-01 -1.94256279e-02 1.32548062e+01] [ 8.44382736e-02 2.20533051e-03 9.96426271e-01 5.91497526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:13.27, Z:5.91 [[ 9.74491991e-01 -2.08826343e-01 -8.22004707e-02 6.99026130e+01] [ 2.07928091e-01 9.77950991e-01 -1.94362557e-02 1.32660520e+01] [ 8.44468339e-02 1.84868861e-03 9.96426272e-01 5.91424346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:13.27, Z:5.92 [[ 9.72871066e-01 -2.16253395e-01 -8.21970707e-02 6.99618067e+01] [ 2.15380340e-01 9.76336511e-01 -1.94506237e-02 1.32674405e+01] [ 8.44582646e-02 1.21931600e-03 9.96426272e-01 5.92220737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:13.27, Z:5.93 [[ 9.71061822e-01 -2.24240443e-01 -8.21897892e-02 7.00189408e+01] [ 2.23393294e-01 9.74533690e-01 -1.94813441e-02 1.32723826e+01] [ 8.44652238e-02 5.56941734e-04 9.96426272e-01 5.92999355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:13.28, Z:5.94 [[ 9.68368524e-01 -2.35600835e-01 -8.21866715e-02 7.00784457e+01] [ 2.34793300e-01 9.71849819e-01 -1.94944878e-02 1.32768464e+01] [ 8.44660194e-02 -4.19031499e-04 9.96426272e-01 5.93611627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99710568100001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:13.28, Z:5.94 [[ 9.69548153e-01 -2.30700659e-01 -8.21801975e-02 7.01371406e+01] [ 2.29873219e-01 9.73024771e-01 -1.95217414e-02 1.32809172e+01] [ 8.44670464e-02 3.62418300e-05 9.96426273e-01 5.94290167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.19, Y:13.29, Z:5.95 [[ 9.72087940e-01 -2.19755524e-01 -8.21738854e-02 7.01943274e+01] [ 2.18886700e-01 9.75554446e-01 -1.95482753e-02 1.32907459e+01] [ 8.44609407e-02 1.01587211e-03 9.96426273e-01 5.95008431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.25, Y:13.30, Z:5.95 [[ 9.75535617e-01 -2.03907062e-01 -8.21715849e-02 7.02525156e+01] [ 2.02981127e-01 9.78987308e-01 -1.95579408e-02 1.32986981e+01] [ 8.44329409e-02 2.40018699e-03 9.96426273e-01 5.95356375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.31, Y:13.30, Z:5.95 [[ 9.76526489e-01 -1.99110306e-01 -8.21650937e-02 7.03133193e+01] [ 1.98165130e-01 9.79972960e-01 -1.95851732e-02 1.32960043e+01] [ 8.44191799e-02 2.84318399e-03 9.96426273e-01 5.95104013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:13.30, Z:5.96 [[ 9.74121232e-01 -2.10563767e-01 -8.21628024e-02 7.03727165e+01] [ 2.09658317e-01 9.77578352e-01 -1.95947808e-02 1.32975387e+01] [ 8.44465279e-02 1.86157710e-03 9.96426273e-01 5.96258784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:13.30, Z:5.97 [[ 9.70571527e-01 -2.26365291e-01 -8.21563475e-02 7.04326014e+01] [ 2.25513851e-01 9.74042344e-01 -1.96218077e-02 1.32968084e+01] [ 8.44654575e-02 5.16973626e-04 9.96426274e-01 5.96912130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:13.30, Z:5.98 [[ 9.69768523e-01 -2.29783385e-01 -8.21499126e-02 7.04906936e+01] [ 2.28941900e-01 9.73241766e-01 -1.96487118e-02 1.33004919e+01] [ 8.44666735e-02 2.47145148e-04 9.96426274e-01 5.97999284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:13.31, Z:5.98 [[ 9.70079746e-01 -2.28466736e-01 -8.21476580e-02 7.05488468e+01] [ 2.27619738e-01 9.73551649e-01 -1.96581330e-02 1.33119832e+01] [ 8.44662174e-02 3.71528289e-04 9.96426274e-01 5.98142730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:13.32, Z:5.98 [[ 9.68421852e-01 -2.35397368e-01 -8.21413168e-02 7.06059662e+01] [ 2.34572973e-01 9.71899191e-01 -1.96845945e-02 1.33247351e+01] [ 8.44667810e-02 -2.05141407e-04 9.96426275e-01 5.98196930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:13.33, Z:5.98 [[ 9.66372200e-01 -2.43677413e-01 -8.21345873e-02 7.06634712e+01] [ 2.42880427e-01 9.69855922e-01 -1.97126337e-02 1.33345192e+01] [ 8.44622395e-02 -8.99142425e-04 9.96426275e-01 5.98347816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.72, Y:13.35, Z:6.00 [[ 9.65063764e-01 -2.48809624e-01 -8.21322238e-02 7.07191546e+01] [ 2.48030327e-01 9.68551486e-01 -1.97224763e-02 1.33524888e+01] [ 8.44564293e-02 -1.33783507e-03 9.96426275e-01 5.99527670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.77, Y:13.37, Z:6.01 [[ 9.66752813e-01 -2.42165987e-01 -8.21257211e-02 7.07741725e+01] [ 2.41360421e-01 9.70234561e-01 -1.97495169e-02 1.33716216e+01] [ 8.44638742e-02 -7.28997668e-04 9.96426276e-01 6.00873321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.83, Y:13.39, Z:6.02 [[ 9.68430187e-01 -2.35370732e-01 -8.21193708e-02 7.08291839e+01] [ 2.34538499e-01 9.71905657e-01 -1.97758866e-02 1.33929682e+01] [ 8.44669460e-02 -1.08588452e-04 9.96426276e-01 6.01882093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:13.41, Z:6.02 [[ 9.71567731e-01 -2.22066655e-01 -8.21130028e-02 7.08839890e+01] [ 2.21184604e-01 9.75030892e-01 -1.98022927e-02 1.34143597e+01] [ 8.44601433e-02 1.07713664e-03 9.96426276e-01 6.02039572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:13.43, Z:6.02 [[ 9.74077257e-01 -2.10789471e-01 -8.21054036e-02 7.09404256e+01] [ 2.09864684e-01 9.77529251e-01 -1.98337511e-02 1.34312780e+01] [ 8.44411796e-02 2.08858125e-03 9.96426277e-01 6.01821218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:13.44, Z:6.01 [[ 9.75460943e-01 -2.04293628e-01 -8.20978777e-02 7.09992967e+01] [ 2.03343242e-01 9.78905978e-01 -1.98648547e-02 1.34424123e+01] [ 8.44243664e-02 2.68334124e-03 9.96426277e-01 6.01184778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:13.45, Z:6.02 [[ 9.76578290e-01 -1.98886610e-01 -8.20911698e-02 7.10567937e+01] [ 1.97914831e-01 9.80017350e-01 -1.98925364e-02 1.34513808e+01] [ 8.44071298e-02 3.17955915e-03 9.96426278e-01 6.01597490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.12, Y:13.45, Z:6.03 [[ 9.75907482e-01 -2.02155565e-01 -8.20835768e-02 7.11161455e+01] [ 2.01192679e-01 9.79349043e-01 -1.99238188e-02 1.34508689e+01] [ 8.44161832e-02 2.92918913e-03 9.96426278e-01 6.02987548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:13.45, Z:6.03 [[ 9.73877388e-01 -2.11722017e-01 -8.20769142e-02 7.11740580e+01] [ 2.10790640e-01 9.77327609e-01 -1.99512278e-02 1.34535084e+01] [ 8.44401485e-02 2.12900434e-03 9.96426279e-01 6.03121532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.24, Y:13.45, Z:6.03 [[ 9.69903474e-01 -2.29240409e-01 -8.20736631e-02 7.12356113e+01] [ 2.28370237e-01 9.73369637e-01 -1.99645930e-02 1.34525137e+01] [ 8.44647031e-02 6.20546184e-04 9.96426279e-01 6.02503391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:13.46, Z:6.03 [[ 9.66203520e-01 -2.44368054e-01 -8.20671257e-02 7.12938196e+01] [ 2.43549870e-01 9.69682321e-01 -1.99914301e-02 1.34582832e+01] [ 8.44643078e-02 -6.71647754e-04 9.96426279e-01 6.03286386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:13.47, Z:6.05 [[ 9.63399952e-01 -2.55199483e-01 -8.20594709e-02 7.13504655e+01] [ 2.54417735e-01 9.66887120e-01 -2.00228019e-02 1.34708055e+01] [ 8.44520542e-02 -1.58741835e-03 9.96426280e-01 6.04943789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:13.48, Z:6.07 [[ 9.60315623e-01 -2.66573186e-01 -8.20526723e-02 7.14060334e+01] [ 2.65830350e-01 9.63811287e-01 -2.00506236e-02 1.34831167e+01] [ 8.44282504e-02 -2.55716352e-03 9.96426280e-01 6.06529559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:13.51, Z:6.07 [[ 9.55697832e-01 -2.82684090e-01 -8.20448631e-02 7.14593782e+01] [ 2.81997410e-01 9.59204959e-01 -2.00825276e-02 1.35072019e+01] [ 8.43748506e-02 -3.94361073e-03 9.96426281e-01 6.06843255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:71.51, Y:13.53, Z:6.07 [[ 9.53867163e-01 -2.88801774e-01 -8.20424925e-02 7.15127582e+01] [ 2.88136749e-01 9.57378461e-01 -2.00922073e-02 1.35337628e+01] [ 8.43483803e-02 -4.47416036e-03 9.96426281e-01 6.07104379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49710568100001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:13.57, Z:6.07 [[ 9.56046517e-01 -2.81505465e-01 -8.20349333e-02 7.15631953e+01] [ 2.80810992e-01 9.59552109e-01 -2.01230241e-02 1.35686381e+01] [ 8.43815345e-02 -3.79776388e-03 9.96426281e-01 6.07491888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:13.61, Z:6.08 [[ 9.61798788e-01 -2.61178460e-01 -8.20298925e-02 7.16122976e+01] [ 2.60408091e-01 9.65288487e-01 -2.01435517e-02 1.36093841e+01] [ 8.44435726e-02 -1.98720409e-03 9.96426281e-01 6.08336707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:13.64, Z:6.08 [[ 9.66438822e-01 -2.43450744e-01 -8.20227944e-02 7.16651054e+01] [ 2.42613895e-01 9.69913177e-01 -2.01724133e-02 1.36394735e+01] [ 8.44659781e-02 -4.04466315e-04 9.96426282e-01 6.08113974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:71.72, Y:13.67, Z:6.08 [[ 9.66791973e-01 -2.42046930e-01 -8.20156404e-02 7.17199276e+01] [ 2.41202573e-01 9.70264510e-01 -2.02014579e-02 1.36665960e+01] [ 8.44665660e-02 -2.51776134e-04 9.96426282e-01 6.07744262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:13.69, Z:6.08 [[ 9.66049590e-01 -2.44995288e-01 -8.20091336e-02 7.17752421e+01] [ 2.44159289e-01 9.69524149e-01 -2.02278383e-02 1.36888500e+01] [ 8.44655606e-02 -4.82196869e-04 9.96426283e-01 6.07586707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:71.83, Y:13.71, Z:6.09 [[ 9.66827162e-01 -2.41910810e-01 -8.20024285e-02 7.18306761e+01] [ 2.41061423e-01 9.70298473e-01 -2.02549840e-02 1.37083990e+01] [ 8.44667307e-02 -1.84553402e-04 9.96426283e-01 6.08581901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85710568100001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:13.72, Z:6.09 [[ 9.66649661e-01 -2.42621391e-01 -8.19956962e-02 7.18865431e+01] [ 2.41772247e-01 9.70121030e-01 -2.02822012e-02 1.37249882e+01] [ 8.44666451e-02 -2.18500718e-04 9.96426283e-01 6.09021609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:71.94, Y:13.74, Z:6.10 [[ 9.63757117e-01 -2.53870430e-01 -8.19879495e-02 7.19427196e+01] [ 2.53059140e-01 9.67237528e-01 -2.03134680e-02 1.37390200e+01] [ 8.44588104e-02 -1.17055062e-03 9.96426284e-01 6.10414464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:72.00, Y:13.76, Z:6.11 [[ 9.63032832e-01 -2.56606420e-01 -8.19811528e-02 7.19977899e+01] [ 2.55802686e-01 9.66514995e-01 -2.03408615e-02 1.37557332e+01] [ 8.44556091e-02 -1.38208166e-03 9.96426284e-01 6.10831139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:13.77, Z:6.11 [[ 9.65767581e-01 -2.46116479e-01 -8.19735249e-02 7.20542544e+01] [ 2.45272313e-01 9.69240162e-01 -2.03715556e-02 1.37743895e+01] [ 8.44658081e-02 -4.31648070e-04 9.96426285e-01 6.10595075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:13.79, Z:6.11 [[ 9.70666371e-01 -2.26027077e-01 -8.19668005e-02 7.21088743e+01] [ 2.25108767e-01 9.74120086e-01 -2.03985762e-02 1.37936576e+01] [ 8.44561373e-02 1.34876655e-03 9.96426285e-01 6.11259606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:13.81, Z:6.12 [[ 9.72358132e-01 -2.18637577e-01 -8.19589694e-02 7.21657070e+01] [ 2.17690377e-01 9.75804035e-01 -2.04299925e-02 1.38050726e+01] [ 8.44426571e-02 2.02359036e-03 9.96426286e-01 6.11516146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:72.22, Y:13.81, Z:6.11 [[ 9.72873533e-01 -2.16333565e-01 -8.19565535e-02 7.22247144e+01] [ 2.15377390e-01 9.76316956e-01 -2.04396794e-02 1.38128587e+01] [ 8.44373616e-02 2.23363452e-03 9.96426286e-01 6.11414420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:13.82, Z:6.12 [[ 9.76091119e-01 -2.01321527e-01 -8.19498026e-02 7.22832881e+01] [ 2.00310156e-01 9.79518736e-01 -2.04667104e-02 1.38181127e+01] [ 8.43917565e-02 3.56199652e-03 9.96426286e-01 6.11614421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:13.83, Z:6.12 [[ 9.76961647e-01 -1.97054704e-01 -8.19474514e-02 7.23409012e+01] [ 1.96027579e-01 9.80384576e-01 -2.04761201e-02 1.38307274e+01] [ 8.43749332e-02 3.94042346e-03 9.96426286e-01 6.12057411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:13.83, Z:6.13 [[ 9.78642992e-01 -1.88530049e-01 -8.19409249e-02 7.24009575e+01] [ 1.87470945e-01 9.82056161e-01 -2.05022047e-02 1.38326778e+01] [ 8.43358718e-02 4.70279633e-03 9.96426287e-01 6.12817384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:13.83, Z:6.13 [[ 9.79337427e-01 -1.84891903e-01 -8.19340442e-02 7.24622222e+01] [ 1.83817834e-01 9.82745917e-01 -2.05296657e-02 1.38266634e+01] [ 8.43161164e-02 5.04453149e-03 9.96426287e-01 6.13462644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:13.82, Z:6.14 [[ 9.78760645e-01 -1.87922355e-01 -8.19316064e-02 7.25233415e+01] [ 1.86858029e-01 9.82172190e-01 -2.05393901e-02 1.38200942e+01] [ 8.43307558e-02 4.79356815e-03 9.96426287e-01 6.13898149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:13.81, Z:6.14 [[ 9.77169518e-01 -1.96031144e-01 -8.19238905e-02 7.25859113e+01] [ 1.94992571e-01 9.80588990e-01 -2.05701204e-02 1.38133877e+01] [ 8.43660492e-02 4.12594453e-03 9.96426287e-01 6.14059463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:13.81, Z:6.13 [[ 9.76344762e-01 -2.00101451e-01 -8.19165064e-02 7.26473932e+01] [ 1.99074679e-01 9.79767796e-01 -2.05994843e-02 1.38108935e+01] [ 8.43811416e-02 3.80469638e-03 9.96426288e-01 6.13274014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:13.81, Z:6.15 [[ 9.74389699e-01 -2.09415412e-01 -8.19139715e-02 7.27081004e+01] [ 2.08420527e-01 9.77822136e-01 -2.06095594e-02 1.38056020e+01] [ 8.44132540e-02 3.00918927e-03 9.96426288e-01 6.14750072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:13.81, Z:6.15 [[ 9.71582398e-01 -2.22078707e-01 -8.19066069e-02 7.27664554e+01] [ 2.21126114e-01 9.75026811e-01 -2.06387866e-02 1.38102987e+01] [ 8.44445727e-02 1.94059205e-03 9.96426288e-01 6.15334115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.83, Y:13.81, Z:6.16 [[ 9.67340533e-01 -2.39883370e-01 -8.19039789e-02 7.28283631e+01] [ 2.38993309e-01 9.70801632e-01 -2.06492104e-02 1.38054410e+01] [ 8.44659185e-02 4.00315294e-04 9.96426288e-01 6.15939316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.89, Y:13.81, Z:6.17 [[ 9.63260017e-01 -2.55777324e-01 -8.19029926e-02 7.28870098e+01] [ 2.54944035e-01 9.66735221e-01 -2.06531215e-02 1.38132965e+01] [ 8.44611078e-02 -9.86353188e-04 9.96426288e-01 6.16634267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.95, Y:13.82, Z:6.17 [[ 9.60099993e-01 -2.67396815e-01 -8.18959499e-02 7.29455054e+01] [ 2.66603196e-01 9.63584470e-01 -2.06810104e-02 1.38235923e+01] [ 8.44437019e-02 -1.97788410e-03 9.96426289e-01 6.16895318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:13.84, Z:6.18 [[ 9.58217446e-01 -2.74066827e-01 -8.18944470e-02 7.30017873e+01] [ 2.73296951e-01 9.61707246e-01 -2.06869603e-02 1.38369762e+01] [ 8.44280926e-02 -2.55889635e-03 9.96426289e-01 6.18410542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:13.86, Z:6.19 [[ 9.57501377e-01 -2.76560192e-01 -8.18875651e-02 7.30565586e+01] [ 2.75797079e-01 9.60992661e-01 -2.07141660e-02 1.38582703e+01] [ 8.44220628e-02 -2.75050873e-03 9.96426289e-01 6.18919912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.11, Y:13.88, Z:6.19 [[ 9.55775941e-01 -2.82467582e-01 -8.18804929e-02 7.31120185e+01] [ 2.81723654e-01 9.59271364e-01 -2.07420838e-02 1.38787795e+01] [ 8.44045784e-02 -3.24288695e-03 9.96426290e-01 6.18731011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.17, Y:13.90, Z:6.19 [[ 9.53265031e-01 -2.90830717e-01 -8.18735298e-02 7.31659195e+01] [ 2.90115090e-01 9.56766356e-01 -2.07695328e-02 1.39035275e+01] [ 8.43742569e-02 -3.95387716e-03 9.96426290e-01 6.19092891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:13.93, Z:6.20 [[ 9.50270744e-01 -3.00471982e-01 -8.18663656e-02 7.32189742e+01] [ 2.99789438e-01 9.53778668e-01 -2.07977335e-02 1.39307748e+01] [ 8.43315293e-02 -4.77919402e-03 9.96426291e-01 6.20455185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:13.96, Z:6.21 [[ 9.51080455e-01 -2.97899505e-01 -8.18648474e-02 7.32709991e+01] [ 2.97206958e-01 9.54586418e-01 -2.08037076e-02 1.39619015e+01] [ 8.43444857e-02 -4.54480262e-03 9.96426291e-01 6.21007956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:14.00, Z:6.21 [[ 9.54227688e-01 -2.87661192e-01 -8.18569333e-02 7.33215203e+01] [ 2.86928345e-01 9.57725449e-01 -2.08348012e-02 1.40013178e+01] [ 8.43898319e-02 -3.60593024e-03 9.96426291e-01 6.21098018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:14.03, Z:6.21 [[ 9.58217748e-01 -2.74079142e-01 -8.18496900e-02 7.33747527e+01] [ 2.73294265e-01 9.61704201e-01 -2.08632179e-02 1.40338861e+01] [ 8.44333636e-02 -2.37754517e-03 9.96426291e-01 6.20840440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:14.07, Z:6.21 [[ 9.60631711e-01 -2.65495012e-01 -8.18481208e-02 7.34268994e+01] [ 2.64678449e-01 9.64110880e-01 -2.08693722e-02 1.40661294e+01] [ 8.44513780e-02 -1.61565291e-03 9.96426292e-01 6.21259687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:14.10, Z:6.22 [[ 9.65237551e-01 -2.48228916e-01 -8.18466581e-02 7.34791837e+01] [ 2.47349618e-01 9.68701397e-01 -2.08751072e-02 1.40953316e+01] [ 8.44667772e-02 -9.53022133e-05 9.96426292e-01 6.22007973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:14.12, Z:6.23 [[ 9.68411534e-01 -2.35545058e-01 -8.18390234e-02 7.35327051e+01] [ 2.34617869e-01 9.71862869e-01 -2.09049958e-02 1.41204850e+01] [ 8.44603765e-02 1.04374176e-03 9.96426292e-01 6.23164582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:14.14, Z:6.24 [[ 9.70124898e-01 -2.28388244e-01 -8.18321003e-02 7.35884166e+01] [ 2.27433316e-01 9.73568660e-01 -2.09320610e-02 1.41353902e+01] [ 8.44498049e-02 1.69536762e-03 9.96426292e-01 6.23807025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:14.15, Z:6.23 [[ 9.71537489e-01 -2.22305420e-01 -8.18242485e-02 7.36457371e+01] [ 2.21326354e-01 9.74974466e-01 -2.09627092e-02 1.41537257e+01] [ 8.44366769e-02 2.25619531e-03 9.96426293e-01 6.23190328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:14.17, Z:6.23 [[ 9.72630067e-01 -2.17476713e-01 -8.18207367e-02 7.37025474e+01] [ 2.16479435e-01 9.76061804e-01 -2.09764076e-02 1.41673171e+01] [ 8.44239760e-02 2.68977782e-03 9.96426293e-01 6.22829692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:14.18, Z:6.23 [[ 9.73630716e-01 -2.12952995e-01 -8.18184005e-02 7.37604706e+01] [ 2.11939011e-01 9.77057554e-01 -2.09855158e-02 1.41770578e+01] [ 8.44102147e-02 3.09163188e-03 9.96426293e-01 6.23446559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:14.18, Z:6.25 [[ 9.72704947e-01 -2.17144975e-01 -8.18116514e-02 7.38190078e+01] [ 2.16143554e-01 9.76135477e-01 -2.10117943e-02 1.41832177e+01] [ 8.44218609e-02 2.75521515e-03 9.96426293e-01 6.24732177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.88, Y:14.18, Z:6.25 [[ 9.67517695e-01 -2.39199961e-01 -8.18100801e-02 7.38786852e+01] [ 2.38276263e-01 9.70969964e-01 -2.10179107e-02 1.41804847e+01] [ 8.44626139e-02 8.41800398e-04 9.96426293e-01 6.25274292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:14.18, Z:6.26 [[ 9.62988134e-01 -2.56829648e-01 -8.18069972e-02 7.39376340e+01] [ 2.55968134e-01 9.66456444e-01 -2.10299030e-02 1.41840180e+01] [ 8.44640022e-02 -6.88437334e-04 9.96426294e-01 6.25526358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:14.19, Z:6.25 [[ 9.59267002e-01 -2.70399344e-01 -8.17986210e-02 7.39986776e+01] [ 2.69584107e-01 9.62746479e-01 -2.10624335e-02 1.41865088e+01] [ 8.44466025e-02 -1.84711072e-03 9.96426294e-01 6.25342497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:14.19, Z:6.26 [[ 9.56831052e-01 -2.78896913e-01 -8.17976168e-02 7.40559991e+01] [ 2.78112236e-01 9.60317548e-01 -2.10663326e-02 1.41942946e+01] [ 8.44270219e-02 -2.59199701e-03 9.96426294e-01 6.25962027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:14.21, Z:6.27 [[ 9.57385846e-01 -2.76987562e-01 -8.17938452e-02 7.41116245e+01] [ 2.76194683e-01 9.60870486e-01 -2.10809664e-02 1.42081425e+01] [ 8.44324572e-02 -2.40840628e-03 9.96426294e-01 6.26582034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:14.23, Z:6.27 [[ 9.58983258e-01 -2.71407964e-01 -8.17852532e-02 7.41657647e+01] [ 2.70591970e-01 9.62462557e-01 -2.11142473e-02 1.42259319e+01] [ 8.44458188e-02 -1.88222308e-03 9.96426295e-01 6.27328243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:14.25, Z:6.29 [[ 9.59102273e-01 -2.70988037e-01 -8.17821154e-02 7.42213162e+01] [ 2.70169484e-01 9.62580971e-01 -2.11263941e-02 1.42471470e+01] [ 8.44469081e-02 -1.83265934e-03 9.96426295e-01 6.28510720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:14.27, Z:6.29 [[ 9.55206879e-01 -2.84414606e-01 -8.17811056e-02 7.42743599e+01] [ 2.83644596e-01 9.58696643e-01 -2.11303021e-02 1.42718561e+01] [ 8.44130380e-02 -3.01295868e-03 9.96426295e-01 6.28687996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.33, Y:14.29, Z:6.29 [[ 9.51889810e-01 -2.95327302e-01 -8.17775847e-02 7.43291911e+01] [ 2.94596111e-01 9.55387914e-01 -2.11439199e-02 1.42921369e+01] [ 8.43736929e-02 -3.96467649e-03 9.96426295e-01 6.29194120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:14.32, Z:6.29 [[ 9.52659030e-01 -2.92837165e-01 -8.17751023e-02 7.43807837e+01] [ 2.92096007e-01 9.56155035e-01 -2.11535163e-02 1.43244238e+01] [ 8.43842116e-02 -3.73409254e-03 9.96426295e-01 6.28973332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:14.36, Z:6.29 [[ 9.56637654e-01 -2.79566844e-01 -8.17727223e-02 7.44322023e+01] [ 2.78776378e-01 9.60122842e-01 -2.11627129e-02 1.43613251e+01] [ 8.44282513e-02 -2.55125522e-03 9.96426295e-01 6.28914317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:14.39, Z:6.31 [[ 9.60258141e-01 -2.66868045e-01 -8.17664278e-02 7.44852711e+01] [ 2.66029406e-01 9.63732051e-01 -2.11870052e-02 1.43919290e+01] [ 8.44550618e-02 -1.40728001e-03 9.96426295e-01 6.30922423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:14.42, Z:6.31 [[ 9.63038864e-01 -2.56652957e-01 -8.17643295e-02 7.45397347e+01] [ 2.55776777e-01 9.66503496e-01 -2.11950997e-02 1.44202803e+01] [ 8.44652953e-02 -5.01711939e-04 9.96426295e-01 6.30654180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:14.44, Z:6.31 [[ 9.65472401e-01 -2.47343494e-01 -8.17571904e-02 7.45948360e+01] [ 2.46431578e-01 9.68927798e-01 -2.12226024e-02 1.44431158e+01] [ 8.44660871e-02 3.42283460e-04 9.96426296e-01 6.30849877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:14.46, Z:6.31 [[ 9.69434544e-01 -2.31330021e-01 -8.17501454e-02 7.46498153e+01] [ 2.30358755e-01 9.72873730e-01 -2.12497054e-02 1.44628152e+01] [ 8.44482637e-02 1.76833674e-03 9.96426296e-01 6.31398197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85710568100001 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:14.48, Z:6.32 [[ 9.71519949e-01 -2.22411889e-01 -8.17431336e-02 7.47050863e+01] [ 2.21406796e-01 9.74949401e-01 -2.12766442e-02 1.44817446e+01] [ 8.44275978e-02 2.57219906e-03 9.96426297e-01 6.31780401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:14.49, Z:6.32 [[ 9.71862367e-01 -2.20913530e-01 -8.17358629e-02 7.47632425e+01] [ 2.19900806e-01 9.75289574e-01 -2.13045388e-02 1.44883657e+01] [ 8.44225957e-02 2.73129736e-03 9.96426297e-01 6.31933195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:74.82, Y:14.49, Z:6.32 [[ 9.70586920e-01 -2.26454468e-01 -8.17276216e-02 7.48214541e+01] [ 2.25458656e-01 9.74019078e-01 -2.13361072e-02 1.44932131e+01] [ 8.44359194e-02 2.28234681e-03 9.96426298e-01 6.32060105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:14.50, Z:6.34 [[ 9.69225960e-01 -2.32211219e-01 -8.17250835e-02 7.48810625e+01] [ 2.31234976e-01 9.72663735e-01 -2.13458246e-02 1.44964709e+01] [ 8.44477649e-02 1.79122955e-03 9.96426298e-01 6.33585386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.94, Y:14.50, Z:6.34 [[ 9.65295335e-01 -2.48044548e-01 -8.17240334e-02 7.49407391e+01] [ 2.47124366e-01 9.68748539e-01 -2.13498441e-02 1.44983883e+01] [ 8.44657504e-02 4.12904903e-04 9.96426298e-01 6.33673957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:14.51, Z:6.35 [[ 9.64446136e-01 -2.51326971e-01 -8.17215011e-02 7.49988703e+01] [ 2.50417721e-01 9.67902234e-01 -2.13595327e-02 1.45072811e+01] [ 8.44666502e-02 1.35606640e-04 9.96426298e-01 6.34535562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:14.52, Z:6.35 [[ 9.63540404e-01 -2.54779607e-01 -8.17143958e-02 7.50556798e+01] [ 2.53880439e-01 9.66999138e-01 -2.13866808e-02 1.45172219e+01] [ 8.44666404e-02 -1.38755607e-04 9.96426298e-01 6.34774826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.11, Y:14.53, Z:6.36 [[ 9.67613040e-01 -2.38847991e-01 -8.17107190e-02 7.51126541e+01] [ 2.37890696e-01 9.71056139e-01 -2.14007193e-02 1.45313523e+01] [ 8.44572142e-02 1.26939520e-03 9.96426298e-01 6.35525269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.17, Y:14.54, Z:6.36 [[ 9.70952662e-01 -2.24889651e-01 -8.17041796e-02 7.51713259e+01] [ 2.23880779e-01 9.74381003e-01 -2.14256566e-02 1.45399031e+01] [ 8.44294089e-02 2.51130292e-03 9.96426298e-01 6.36102111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:14.55, Z:6.36 [[ 9.71459052e-01 -2.22694290e-01 -8.16980040e-02 7.52273436e+01] [ 2.21675695e-01 9.74884516e-01 -2.14491792e-02 1.45523598e+01] [ 8.44227288e-02 2.72653748e-03 9.96426299e-01 6.36427747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:14.56, Z:6.36 [[ 9.71545289e-01 -2.22318634e-01 -8.16956313e-02 7.52860908e+01] [ 2.21297956e-01 9.74970133e-01 -2.14582125e-02 1.45632997e+01] [ 8.44213610e-02 2.76854907e-03 9.96426299e-01 6.36284042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:14.56, Z:6.37 [[ 9.70600278e-01 -2.26411073e-01 -8.16892025e-02 7.53454544e+01] [ 2.25402781e-01 9.74028789e-01 -2.14826585e-02 1.45634318e+01] [ 8.44315468e-02 2.43810087e-03 9.96426299e-01 6.37183740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:14.58, Z:6.38 [[ 9.66559991e-01 -2.43084299e-01 -8.16811328e-02 7.54023442e+01] [ 2.42132582e-01 9.70004634e-01 -2.15132977e-02 1.45757638e+01] [ 8.44606222e-02 1.01622925e-03 9.96426300e-01 6.38394011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:14.58, Z:6.39 [[ 9.63220487e-01 -2.55999339e-01 -8.16739416e-02 7.54615189e+01] [ 2.55091499e-01 9.66676953e-01 -2.15405639e-02 1.45785002e+01] [ 8.44666872e-02 -8.60157901e-05 9.96426300e-01 6.39482089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:14.59, Z:6.40 [[ 9.65015907e-01 -2.49148249e-01 -8.16666998e-02 7.55182335e+01] [ 2.48213550e-01 9.68465206e-01 -2.15679853e-02 1.45932132e+01] [ 8.44649830e-02 5.42667397e-04 9.96426300e-01 6.40066241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:14.61, Z:6.40 [[ 9.69476633e-01 -2.31185604e-01 -8.16595100e-02 7.55756127e+01] [ 2.30184726e-01 9.72907313e-01 -2.15951724e-02 1.46062829e+01] [ 8.44396275e-02 2.13924310e-03 9.96426301e-01 6.40377035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:14.61, Z:6.41 [[ 9.73191629e-01 -2.15013814e-01 -8.16523887e-02 7.56329038e+01] [ 2.13953710e-01 9.76604473e-01 -2.16220651e-02 1.46145163e+01] [ 8.43911307e-02 3.57258131e-03 9.96426301e-01 6.40766592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:14.62, Z:6.41 [[ 9.72978827e-01 -2.15977772e-01 -8.16443786e-02 7.56916706e+01] [ 2.14918519e-01 9.76391934e-01 -2.16522692e-02 1.46195684e+01] [ 8.43933216e-02 3.52031058e-03 9.96426302e-01 6.41360595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:14.63, Z:6.41 [[ 9.71758525e-01 -2.21406620e-01 -8.16362479e-02 7.57512748e+01] [ 2.20363871e-01 9.75176711e-01 -2.16828816e-02 1.46251495e+01] [ 8.44105012e-02 3.08084543e-03 9.96426302e-01 6.41463615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:14.63, Z:6.42 [[ 9.70660567e-01 -2.26174124e-01 -8.16292153e-02 7.58095099e+01] [ 2.25145945e-01 9.74083163e-01 -2.17093248e-02 1.46295444e+01] [ 8.44237318e-02 2.69389865e-03 9.96426303e-01 6.41799123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:14.63, Z:6.43 [[ 9.69888988e-01 -2.29461158e-01 -8.16267559e-02 7.58684899e+01] [ 2.28443802e-01 9.73314817e-01 -2.17185683e-02 1.46334885e+01] [ 8.44320988e-02 2.41747378e-03 9.96426303e-01 6.42847786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:14.64, Z:6.43 [[ 9.66377311e-01 -2.43828052e-01 -8.16258205e-02 7.59270067e+01] [ 2.42861347e-01 9.69817775e-01 -2.17220834e-02 1.46434992e+01] [ 8.44586249e-02 1.16797176e-03 9.96426303e-01 6.43284730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:14.66, Z:6.44 [[ 9.64217409e-01 -2.52236043e-01 -8.16196429e-02 7.59833048e+01] [ 2.51297379e-01 9.67665630e-01 -2.17452707e-02 1.46553430e+01] [ 8.44654641e-02 4.56366219e-04 9.96426303e-01 6.43948022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:14.67, Z:6.44 [[ 9.62269393e-01 -2.59571113e-01 -8.16115962e-02 7.60410327e+01] [ 2.58656177e-01 9.65723984e-01 -2.17754290e-02 1.46685112e+01] [ 8.44665481e-02 -1.55514630e-04 9.96426303e-01 6.44293154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:14.68, Z:6.45 [[ 9.63788810e-01 -2.53873596e-01 -8.16046973e-02 7.60975542e+01] [ 2.52936051e-01 9.67237334e-01 -2.18012525e-02 1.46825790e+01] [ 8.44658721e-02 3.71033372e-04 9.96426304e-01 6.45417503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:14.70, Z:6.47 [[ 9.67426237e-01 -2.39642146e-01 -8.15972866e-02 7.61531084e+01] [ 2.38651544e-01 9.70859896e-01 -2.18289540e-02 1.46991351e+01] [ 8.44506705e-02 1.64458438e-03 9.96426304e-01 6.47126165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:14.72, Z:6.47 [[ 9.71505444e-01 -2.22531496e-01 -8.15898619e-02 7.62095744e+01] [ 2.21478126e-01 9.74920369e-01 -2.18566699e-02 1.47186703e+01] [ 8.44074157e-02 3.16350406e-03 9.96426305e-01 6.47045399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:14.73, Z:6.47 [[ 9.72719854e-01 -2.17163155e-01 -8.15858487e-02 7.62679014e+01] [ 2.16089690e-01 9.76128515e-01 -2.18716402e-02 1.47292506e+01] [ 8.43879877e-02 3.64511790e-03 9.96426305e-01 6.47024520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:14.74, Z:6.47 [[ 9.72748048e-01 -2.17039533e-01 -8.15786449e-02 7.63265080e+01] [ 2.15963389e-01 9.76155864e-01 -2.18984768e-02 1.47411767e+01] [ 8.43863078e-02 3.68369996e-03 9.96426305e-01 6.46841817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.38, Y:14.75, Z:6.48 [[ 9.71540630e-01 -2.22383168e-01 -8.15753044e-02 7.63849765e+01] [ 2.21324730e-01 9.74953987e-01 -2.19109134e-02 1.47481367e+01] [ 8.44047866e-02 3.23271039e-03 9.96426305e-01 6.48403372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.44, Y:14.75, Z:6.49 [[ 9.69104747e-01 -2.32769469e-01 -8.15742832e-02 7.64444420e+01] [ 2.31747307e-01 9.72529141e-01 -2.19147147e-02 1.47529473e+01] [ 8.44344441e-02 2.33303361e-03 9.96426305e-01 6.48851685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.50, Y:14.76, Z:6.49 [[ 9.65120841e-01 -2.48774212e-01 -8.15668637e-02 7.65029015e+01] [ 2.47806525e-01 9.68561026e-01 -2.19422956e-02 1.47591004e+01] [ 8.44611625e-02 9.64165741e-04 9.96426306e-01 6.48935414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.56, Y:14.77, Z:6.50 [[ 9.61307177e-01 -2.63126933e-01 -8.15642597e-02 7.65600870e+01] [ 2.62209791e-01 9.64761181e-01 -2.19519710e-02 1.47654628e+01] [ 8.44661863e-02 -2.84360225e-04 9.96426306e-01 6.49913334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.62, Y:14.78, Z:6.51 [[ 9.61259767e-01 -2.63301267e-01 -8.15604270e-02 7.66154071e+01] [ 2.62383544e-01 9.64713616e-01 -2.19662020e-02 1.47822050e+01] [ 8.44661833e-02 -2.84887696e-04 9.96426306e-01 6.51370870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.67, Y:14.80, Z:6.52 [[ 9.65383579e-01 -2.47757259e-01 -8.15529695e-02 7.66691466e+01] [ 2.46781593e-01 9.68821509e-01 -2.19938543e-02 1.48039336e+01] [ 8.44594080e-02 1.10673407e-03 9.96426306e-01 6.52070413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:14.82, Z:6.53 [[ 9.70013208e-01 -2.28962692e-01 -8.15503659e-02 7.67235762e+01] [ 2.27919635e-01 9.73431295e-01 -2.20035039e-02 1.48243919e+01] [ 8.44216598e-02 2.75675977e-03 9.96426306e-01 6.52663208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.78, Y:14.84, Z:6.52 [[ 9.71915669e-01 -2.20750687e-01 -8.15418074e-02 7.67795413e+01] [ 2.19676107e-01 9.75323977e-01 -2.20351752e-02 1.48401918e+01] [ 8.43939599e-02 3.50354523e-03 9.96426307e-01 6.52455729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.84, Y:14.85, Z:6.53 [[ 9.71229977e-01 -2.23749163e-01 -8.15392176e-02 7.68371318e+01] [ 2.22684303e-01 9.74641334e-01 -2.20447544e-02 1.48542765e+01] [ 8.44039871e-02 3.25302251e-03 9.96426307e-01 6.52592537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:14.86, Z:6.53 [[ 9.68671579e-01 -2.34580259e-01 -8.15320467e-02 7.68957127e+01] [ 2.33551330e-01 9.72093944e-01 -2.20712440e-02 1.48617143e+01] [ 8.44342870e-02 2.33786884e-03 9.96426307e-01 6.53009011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:14.87, Z:6.54 [[ 9.67612543e-01 -2.38913541e-01 -8.15247620e-02 7.69538564e+01] [ 2.37897677e-01 9.71038809e-01 -2.20981189e-02 1.48725978e+01] [ 8.44432476e-02 1.98786551e-03 9.96426308e-01 6.54232937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:14.88, Z:6.55 [[ 9.65953541e-01 -2.45535423e-01 -8.15236916e-02 7.70117386e+01] [ 2.44542717e-01 9.69386589e-01 -2.21020671e-02 1.48824211e+01] [ 8.44548137e-02 1.41354490e-03 9.96426308e-01 6.54958604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:14.89, Z:6.55 [[ 9.63004613e-01 -2.56860279e-01 -8.15163374e-02 7.70700345e+01] [ 2.55905658e-01 9.66448444e-01 -2.21291576e-02 1.48909433e+01] [ 8.44654390e-02 4.49988849e-04 9.96426308e-01 6.55258827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:14.90, Z:6.56 [[ 9.63491925e-01 -2.55028629e-01 -8.15089542e-02 7.71256344e+01] [ 2.54065164e-01 9.66933291e-01 -2.21563194e-02 1.49014939e+01] [ 8.44642171e-02 6.38849014e-04 9.96426308e-01 6.56068941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:14.92, Z:6.57 [[ 9.67077831e-01 -2.41075406e-01 -8.15053182e-02 7.71810300e+01] [ 2.40061173e-01 9.70504579e-01 -2.21696868e-02 1.49187581e+01] [ 8.44458508e-02 1.87355033e-03 9.96426308e-01 6.57205370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:14.93, Z:6.58 [[ 9.70352520e-01 -2.27539193e-01 -8.14978742e-02 7.72380758e+01] [ 2.26474885e-01 9.73764047e-01 -2.21970181e-02 1.49324401e+01] [ 8.44103914e-02 3.08171070e-03 9.96426309e-01 6.57760303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:14.94, Z:6.58 [[ 9.70616474e-01 -2.26413259e-01 -8.14904683e-02 7.72962847e+01] [ 2.25342717e-01 9.74026050e-01 -2.22241737e-02 1.49440741e+01] [ 8.44056865e-02 3.20786554e-03 9.96426309e-01 6.57895590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:14.95, Z:6.58 [[ 9.69614361e-01 -2.30669627e-01 -8.14832200e-02 7.73532395e+01] [ 2.29611827e-01 9.73027910e-01 -2.22507176e-02 1.49535637e+01] [ 8.44180120e-02 2.86510429e-03 9.96426310e-01 6.58101178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:14.96, Z:6.59 [[ 9.70450907e-01 -2.27125366e-01 -8.14806992e-02 7.74122439e+01] [ 2.26054327e-01 9.73860327e-01 -2.22599446e-02 1.49575057e+01] [ 8.44066184e-02 3.18311877e-03 9.96426310e-01 6.58930560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:14.97, Z:6.59 [[ 9.70540250e-01 -2.26745920e-01 -8.14733808e-02 7.74698708e+01] [ 2.25671306e-01 9.73948543e-01 -2.22866987e-02 1.49691566e+01] [ 8.44042985e-02 3.24393386e-03 9.96426310e-01 6.59219243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.53, Y:14.97, Z:6.59 [[ 9.68421987e-01 -2.35631388e-01 -8.14659652e-02 7.75297056e+01] [ 2.34585781e-01 9.71839291e-01 -2.23137724e-02 1.49742170e+01] [ 8.44296511e-02 2.49839078e-03 9.96426310e-01 6.59349065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85710568100001 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:77.59, Y:14.98, Z:6.60 [[ 9.64521196e-01 -2.51124232e-01 -8.14584683e-02 7.75877668e+01] [ 2.50131227e-01 9.67954154e-01 -2.23411073e-02 1.49808715e+01] [ 8.44584562e-02 1.17316492e-03 9.96426311e-01 6.59792746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:77.65, Y:14.99, Z:6.60 [[ 9.62385068e-01 -2.59190910e-01 -8.14558407e-02 7.76454696e+01] [ 2.58225872e-01 9.65825991e-01 -2.23506833e-02 1.49923270e+01] [ 8.44652621e-02 4.75958380e-04 9.96426311e-01 6.60487150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:15.01, Z:6.62 [[ 9.57807671e-01 -2.75627641e-01 -8.14485662e-02 7.77014629e+01] [ 2.74719397e-01 9.61264020e-01 -2.23771613e-02 1.50072299e+01] [ 8.44613403e-02 -9.42484304e-04 9.96426311e-01 6.61535546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:15.02, Z:6.62 [[ 9.55738793e-01 -2.82720202e-01 -8.14410686e-02 7.77570480e+01] [ 2.81835283e-01 9.59201186e-01 -2.24044156e-02 1.50231504e+01] [ 8.44525505e-02 -1.54019754e-03 9.96426312e-01 6.62082707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:15.04, Z:6.63 [[ 9.52597728e-01 -2.93130263e-01 -8.14384304e-02 7.78113427e+01] [ 2.92282352e-01 9.56069369e-01 -2.24140014e-02 1.50441698e+01] [ 8.44310109e-02 -2.45148915e-03 9.96426312e-01 6.63120110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.87, Y:15.06, Z:6.64 [[ 9.48790496e-01 -3.05230403e-01 -8.14309272e-02 7.78665865e+01] [ 3.04424413e-01 9.52272108e-01 -2.24412277e-02 1.50643918e+01] [ 8.43941457e-02 -3.49753861e-03 9.96426312e-01 6.64114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:15.10, Z:6.65 [[ 9.43373035e-01 -3.21585998e-01 -8.14233529e-02 7.79163689e+01] [ 3.20837952e-01 9.46867555e-01 -2.24686759e-02 1.51011153e+01] [ 8.43227427e-02 -4.92735885e-03 9.96426312e-01 6.65245993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:15.14, Z:6.67 [[ 9.41727699e-01 -3.26374668e-01 -8.14157039e-02 7.79674327e+01] [ 3.25642003e-01 9.45225476e-01 -2.24963584e-02 1.51356755e+01] [ 8.42984389e-02 -5.32692908e-03 9.96426313e-01 6.66515567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:15.17, Z:6.67 [[ 9.40572015e-01 -3.29692240e-01 -8.14083013e-02 7.80176154e+01] [ 3.28969604e-01 9.44071877e-01 -2.25231149e-02 1.51717234e+01] [ 8.42809840e-02 -5.59624510e-03 9.96426313e-01 6.66986050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:15.22, Z:6.67 [[ 9.46233917e-01 -3.13074134e-01 -8.14000070e-02 7.80631894e+01] [ 3.12287396e-01 9.49719928e-01 -2.25530511e-02 1.52236510e+01] [ 8.43679858e-02 -4.07973427e-03 9.96426314e-01 6.67132573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:15.26, Z:6.67 [[ 9.52868216e-01 -2.92262823e-01 -8.13916765e-02 7.81131913e+01] [ 2.91397317e-01 9.56335510e-01 -2.25830754e-02 1.52648730e+01] [ 8.44379438e-02 -2.19862138e-03 9.96426314e-01 6.67160342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:15.31, Z:6.67 [[ 9.59693269e-01 -2.69008299e-01 -8.13840544e-02 7.81608803e+01] [ 2.68056418e-01 9.63137852e-01 -2.26105103e-02 1.53095492e+01] [ 8.44664783e-02 -1.16363558e-04 9.96426315e-01 6.67362453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:78.21, Y:15.34, Z:6.67 [[ 9.60698564e-01 -2.65396572e-01 -8.13813745e-02 7.82147815e+01] [ 2.64430925e-01 9.64139313e-01 -2.26201519e-02 1.53366208e+01] [ 8.44662933e-02 2.11395336e-04 9.96426315e-01 6.66926515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.27, Y:15.36, Z:6.67 [[ 9.59349597e-01 -2.70234449e-01 -8.13737840e-02 7.82689063e+01] [ 2.69283840e-01 9.62794530e-01 -2.26474251e-02 1.53603272e+01] [ 8.44663487e-02 -1.85846832e-04 9.96426315e-01 6.67025108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:15.38, Z:6.68 [[ 9.58800939e-01 -2.72176963e-01 -8.13662098e-02 7.83233522e+01] [ 2.71231026e-01 9.62247158e-01 -2.26746049e-02 1.53807642e+01] [ 8.44659092e-02 -3.28608061e-04 9.96426315e-01 6.67758957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:15.40, Z:6.69 [[ 9.57898321e-01 -2.75338978e-01 -8.13587994e-02 7.83780905e+01] [ 2.74402161e-01 9.61347029e-01 -2.27011631e-02 1.53995287e+01] [ 8.44645552e-02 -5.79624395e-04 9.96426316e-01 6.69242463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.43, Y:15.41, Z:6.70 [[ 9.55437187e-01 -2.83763532e-01 -8.13513361e-02 7.84348417e+01] [ 2.82854846e-01 9.58893414e-01 -2.27278771e-02 1.54123081e+01] [ 8.44566031e-02 -1.29556066e-03 9.96426316e-01 6.70031717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.49, Y:15.43, Z:6.70 [[ 9.51605325e-01 -2.96362032e-01 -8.13440295e-02 7.84913557e+01] [ 2.95496858e-01 9.55072700e-01 -2.27539979e-02 1.54252689e+01] [ 8.44328829e-02 -2.38407963e-03 9.96426317e-01 6.69863049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.55, Y:15.44, Z:6.71 [[ 9.53226264e-01 -2.91107292e-01 -8.13402318e-02 7.85469323e+01] [ 2.90221845e-01 9.56688517e-01 -2.27675656e-02 1.54431715e+01] [ 8.44450702e-02 -1.90407065e-03 9.96426317e-01 6.70728847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99710568100001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:15.46, Z:6.72 [[ 9.58948699e-01 -2.71665867e-01 -8.13329557e-02 7.86008264e+01] [ 2.70708005e-01 9.62391620e-01 -2.27935288e-02 1.54647774e+01] [ 8.44663788e-02 -1.59657403e-04 9.96426317e-01 6.71809331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:15.49, Z:6.73 [[ 9.63696649e-01 -2.54312923e-01 -8.13246941e-02 7.86541737e+01] [ 2.53290589e-01 9.67120980e-01 -2.28229675e-02 1.54864513e+01] [ 8.44549934e-02 1.39563758e-03 9.96426318e-01 6.72682680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:15.50, Z:6.72 [[ 9.65973230e-01 -2.45525357e-01 -8.13204592e-02 7.87122177e+01] [ 2.44470610e-01 9.69387716e-01 -2.28380467e-02 1.55001325e+01] [ 8.44383738e-02 2.18047951e-03 9.96426318e-01 6.72195039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:15.51, Z:6.72 [[ 9.67725517e-01 -2.38527873e-01 -8.13128374e-02 7.87704925e+01] [ 2.37446167e-01 9.71131558e-01 -2.28651513e-02 1.55118350e+01] [ 8.44194384e-02 2.81976878e-03 9.96426318e-01 6.72093780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:15.52, Z:6.73 [[ 9.70154034e-01 -2.28452669e-01 -8.13051555e-02 7.88289665e+01] [ 2.27333324e-01 9.73547891e-01 -2.28924348e-02 1.55205460e+01] [ 8.43843005e-02 3.72581666e-03 9.96426318e-01 6.72573267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:15.52, Z:6.73 [[ 9.71364908e-01 -2.23250824e-01 -8.12975156e-02 7.88894517e+01] [ 2.22111046e-01 9.74751957e-01 -2.29195342e-02 1.55222844e+01] [ 8.43617173e-02 4.20615500e-03 9.96426319e-01 6.73186342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:15.52, Z:6.74 [[ 9.69774264e-01 -2.30064860e-01 -8.12898294e-02 7.89496717e+01] [ 2.28946612e-01 9.73168482e-01 -2.29467629e-02 1.55204844e+01] [ 8.43879437e-02 3.64214904e-03 9.96426319e-01 6.73913652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:15.52, Z:6.74 [[ 9.65681950e-01 -2.46679494e-01 -8.12871325e-02 7.90119281e+01] [ 2.45618877e-01 9.69094616e-01 -2.29563125e-02 1.55185249e+01] [ 8.44377740e-02 2.20284241e-03 9.96426319e-01 6.73865418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:15.52, Z:6.74 [[ 9.61940554e-01 -2.60890826e-01 -8.12794434e-02 7.90733500e+01] [ 2.59878344e-01 9.65367808e-01 -2.29835045e-02 1.55202088e+01] [ 8.44607436e-02 9.85997911e-04 9.96426320e-01 6.74100927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:15.53, Z:6.75 [[ 9.59624508e-01 -2.69285414e-01 -8.12783416e-02 7.91301394e+01] [ 2.68302585e-01 9.63060384e-01 -2.29874005e-02 1.55290338e+01] [ 8.44661225e-02 2.52083821e-04 9.96426320e-01 6.75062880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:15.54, Z:6.77 [[ 9.61612417e-01 -2.62100824e-01 -8.12694114e-02 7.91873774e+01] [ 2.61089662e-01 9.65040060e-01 -2.30189291e-02 1.55414372e+01] [ 8.44615179e-02 9.16684922e-04 9.96426320e-01 6.76873684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:15.56, Z:6.77 [[ 9.64853384e-01 -2.49906841e-01 -8.12681847e-02 7.92429640e+01] [ 2.48852004e-01 9.68267840e-01 -2.30232591e-02 1.55560485e+01] [ 8.44430396e-02 1.99031885e-03 9.96426320e-01 6.77336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.30, Y:15.57, Z:6.78 [[ 9.65751343e-01 -2.46417121e-01 -8.12585143e-02 7.92974545e+01] [ 2.45347082e-01 9.69161064e-01 -2.30573396e-02 1.55718833e+01] [ 8.44343115e-02 2.33111724e-03 9.96426321e-01 6.77541021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:15.58, Z:6.78 [[ 9.67126975e-01 -2.40963699e-01 -8.12521362e-02 7.93553584e+01] [ 2.39872553e-01 9.70530000e-01 -2.30797937e-02 1.55838335e+01] [ 8.44190283e-02 2.83093370e-03 9.96426321e-01 6.77590592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.41, Y:15.59, Z:6.78 [[ 9.68933560e-01 -2.33596031e-01 -8.12443917e-02 7.94132326e+01] [ 2.32476737e-01 9.72327430e-01 -2.31070235e-02 1.55937561e+01] [ 8.43938596e-02 3.50173943e-03 9.96426322e-01 6.78052957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:15.60, Z:6.77 [[ 9.70851325e-01 -2.25495717e-01 -8.12366097e-02 7.94725480e+01] [ 2.24345837e-01 9.74234955e-01 -2.31343504e-02 1.56007796e+01] [ 8.43602417e-02 4.23491948e-03 9.96426322e-01 6.76797075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.53, Y:15.61, Z:6.78 [[ 9.70165238e-01 -2.28430435e-01 -8.12339053e-02 7.95288658e+01] [ 2.27289999e-01 9.73552063e-01 -2.31438428e-02 1.56142493e+01] [ 8.43721941e-02 3.98969747e-03 9.96426322e-01 6.78304911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:15.62, Z:6.79 [[ 9.69383751e-01 -2.31726923e-01 -8.12266921e-02 7.95879811e+01] [ 2.30595892e-01 9.72773728e-01 -2.31691310e-02 1.56186018e+01] [ 8.43841035e-02 3.72923762e-03 9.96426322e-01 6.79377843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:15.62, Z:6.80 [[ 9.65785705e-01 -2.46295392e-01 -8.12191604e-02 7.96481256e+01] [ 2.45213312e-01 9.69191622e-01 -2.31955032e-02 1.56233189e+01] [ 8.44298754e-02 2.48586610e-03 9.96426323e-01 6.79732767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:15.62, Z:6.80 [[ 9.57324993e-01 -2.77368945e-01 -8.12116113e-02 7.97089789e+01] [ 2.76395226e-01 9.60763458e-01 -2.32219041e-02 1.56212701e+01] [ 8.44661835e-02 -2.15592492e-04 9.96426323e-01 6.79733179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:15.63, Z:6.81 [[ 9.54175577e-01 -2.88017800e-01 -8.12078491e-02 7.97662888e+01] [ 2.87081333e-01 9.57624374e-01 -2.32350531e-02 1.56321817e+01] [ 8.44587245e-02 -1.14293732e-03 9.96426323e-01 6.80517895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:15.65, Z:6.81 [[ 9.54949455e-01 -2.85443822e-01 -8.11995246e-02 7.98211904e+01] [ 2.84495589e-01 9.58395034e-01 -2.32641087e-02 1.56512637e+01] [ 8.44618173e-02 -8.84858645e-04 9.96426324e-01 6.81103890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:15.67, Z:6.83 [[ 9.58840769e-01 -2.72089190e-01 -8.11902214e-02 7.98735185e+01] [ 2.71090218e-01 9.62271981e-01 -2.32965312e-02 1.56740663e+01] [ 8.44658095e-02 3.27789022e-04 9.96426324e-01 6.82977423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:15.70, Z:6.83 [[ 9.62770502e-01 -2.57840198e-01 -8.11873903e-02 7.99286425e+01] [ 2.56789621e-01 9.66186267e-01 -2.33063934e-02 1.56958446e+01] [ 8.44514666e-02 1.59062883e-03 9.96426324e-01 6.83091454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.98, Y:15.72, Z:6.84 [[ 9.65600148e-01 -2.47035062e-01 -8.11790146e-02 7.99826389e+01] [ 2.45943827e-01 9.69003141e-01 -2.33355305e-02 1.57154574e+01] [ 8.44274144e-02 2.56731421e-03 9.96426325e-01 6.84022083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49710568100001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:80.04, Y:15.73, Z:6.83 [[ 9.68562921e-01 -2.35152138e-01 -8.11747490e-02 8.00399601e+01] [ 2.34017932e-01 9.71951834e-01 -2.33503594e-02 1.57322507e+01] [ 8.43888332e-02 3.61994544e-03 9.96426325e-01 6.82746221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:15.75, Z:6.82 [[ 9.70569785e-01 -2.26729740e-01 -8.11659915e-02 8.00975945e+01] [ 2.25563604e-01 9.73947843e-01 -2.33807611e-02 1.57481296e+01] [ 8.43525563e-02 4.38456669e-03 9.96426325e-01 6.82478362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:15.76, Z:6.83 [[ 9.71228373e-01 -2.23894515e-01 -8.11584447e-02 8.01535656e+01] [ 2.22716340e-01 9.74602251e-01 -2.34069283e-02 1.57595154e+01] [ 8.43378857e-02 4.65816114e-03 9.96426326e-01 6.83400328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:15.76, Z:6.85 [[ 9.67415788e-01 -2.39834690e-01 -8.11542655e-02 8.02114470e+01] [ 2.38710940e-01 9.70808181e-01 -2.34214092e-02 1.57624730e+01] [ 8.44024913e-02 3.28583006e-03 9.96426326e-01 6.84657392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:15.77, Z:6.85 [[ 9.63743939e-01 -2.54189133e-01 -8.11511174e-02 8.02709337e+01] [ 2.53115019e-01 9.67152374e-01 -2.34323117e-02 1.57665575e+01] [ 8.44417348e-02 2.04218179e-03 9.96426326e-01 6.85204215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:80.33, Y:15.77, Z:6.85 [[ 9.54657809e-01 -2.86433763e-01 -8.11428763e-02 8.03297061e+01] [ 2.85472379e-01 9.58099740e-01 -2.34608148e-02 1.57737312e+01] [ 8.44629381e-02 -7.66999955e-04 9.96426326e-01 6.85183849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85710568100001 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:80.39, Y:15.78, Z:6.86 [[ 9.53969038e-01 -2.88721569e-01 -8.11352527e-02 8.03874723e+01] [ 2.87766200e-01 9.57412643e-01 -2.34871503e-02 1.57834479e+01] [ 8.44611636e-02 -9.41969101e-04 9.96426327e-01 6.86148089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:15.80, Z:6.88 [[ 9.57086040e-01 -2.78216923e-01 -8.11273980e-02 8.04419148e+01] [ 2.77221458e-01 9.60518268e-01 -2.35142504e-02 1.58017572e+01] [ 8.44664102e-02 1.49052161e-05 9.96426327e-01 6.87921052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:15.83, Z:6.88 [[ 9.62612680e-01 -2.58450152e-01 -8.11193438e-02 8.04952010e+01] [ 2.57381886e-01 9.66022950e-01 -2.35420030e-02 1.58266281e+01] [ 8.44475820e-02 1.78318094e-03 9.96426328e-01 6.88148900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:15.85, Z:6.88 [[ 9.64989323e-01 -2.49433110e-01 -8.11093725e-02 8.05487555e+01] [ 2.48330105e-01 9.68388515e-01 -2.35763072e-02 1.58520156e+01] [ 8.44260965e-02 2.60898577e-03 9.96426328e-01 6.87983390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.60, Y:15.87, Z:6.89 [[ 9.66324087e-01 -2.44212032e-01 -8.11063644e-02 8.06043749e+01] [ 2.43089797e-01 9.69716980e-01 -2.35866511e-02 1.58697106e+01] [ 8.44103627e-02 3.07621939e-03 9.96426328e-01 6.88883803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:15.89, Z:6.89 [[ 9.67030317e-01 -2.41402976e-01 -8.10985169e-02 8.06599808e+01] [ 2.40268630e-01 9.70419179e-01 -2.36136027e-02 1.58904592e+01] [ 8.43999502e-02 3.34964012e-03 9.96426329e-01 6.88968776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:15.91, Z:6.89 [[ 9.68023864e-01 -2.37390113e-01 -8.10908903e-02 8.07167763e+01] [ 2.36239535e-01 9.71407249e-01 -2.36397641e-02 1.59070192e+01] [ 8.43841250e-02 3.72698155e-03 9.96426329e-01 6.89176797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:80.77, Y:15.92, Z:6.90 [[ 9.69144091e-01 -2.32776176e-01 -8.10862670e-02 8.07740407e+01] [ 2.31608172e-01 9.72521499e-01 -2.36556118e-02 1.59196582e+01] [ 8.43646009e-02 4.14545436e-03 9.96426329e-01 6.89611743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.83, Y:15.93, Z:6.90 [[ 9.69468381e-01 -2.31425041e-01 -8.10771736e-02 8.08319751e+01] [ 2.30249733e-01 9.72843255e-01 -2.36867376e-02 1.59284212e+01] [ 8.43570857e-02 4.29554555e-03 9.96426330e-01 6.89973579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:15.93, Z:6.90 [[ 9.68038255e-01 -2.37337121e-01 -8.10742056e-02 8.08923642e+01] [ 2.36181583e-01 9.71419949e-01 -2.36968924e-02 1.59337514e+01] [ 8.43812528e-02 3.79126412e-03 9.96426330e-01 6.90022595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:15.94, Z:6.91 [[ 9.65253233e-01 -2.48423728e-01 -8.10669302e-02 8.09516508e+01] [ 2.47304963e-01 9.68647270e-01 -2.37217554e-02 1.59380522e+01] [ 8.44183075e-02 2.84924684e-03 9.96426330e-01 6.90905623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:15.94, Z:6.92 [[ 9.60335197e-01 -2.66806521e-01 -8.10591780e-02 8.10104843e+01] [ 2.65750525e-01 9.63749283e-01 -2.37482157e-02 1.59424858e+01] [ 8.44569035e-02 1.26472834e-03 9.96426330e-01 6.92071708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577105681 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:15.95, Z:6.93 [[ 9.54321195e-01 -2.87579095e-01 -8.10513477e-02 8.10693699e+01] [ 2.86595152e-01 9.57756740e-01 -2.37749105e-02 1.59485307e+01] [ 8.44646417e-02 -5.40022334e-04 9.96426331e-01 6.92590281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:15.96, Z:6.94 [[ 9.49404528e-01 -3.03419205e-01 -8.10421384e-02 8.11239370e+01] [ 3.02489891e-01 9.52855250e-01 -2.38062612e-02 1.59612635e+01] [ 8.44447039e-02 -1.91265542e-03 9.96426331e-01 6.93590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:15.98, Z:6.94 [[ 9.45304152e-01 -3.15963398e-01 -8.10382108e-02 8.11778983e+01] [ 3.15078712e-01 9.48766584e-01 -2.38196235e-02 1.59843038e+01] [ 8.44124756e-02 -3.01662608e-03 9.96426331e-01 6.94065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757105681 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:16.01, Z:6.95 [[ 9.42855901e-01 -3.23196954e-01 -8.10338138e-02 8.12300507e+01] [ 3.22337540e-01 9.46324692e-01 -2.38345727e-02 1.60103712e+01] [ 8.43875602e-02 -3.64767273e-03 9.96426332e-01 6.94570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817105681 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:16.04, Z:6.94 [[ 9.40696941e-01 -3.29429034e-01 -8.10294843e-02 8.12820716e+01] [ 3.28591329e-01 9.44171039e-01 -2.38492825e-02 1.60444505e+01] [ 8.43623384e-02 -4.19063883e-03 9.96426332e-01 6.94213162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:16.07, Z:6.95 [[ 9.38472697e-01 -3.35714836e-01 -8.10218818e-02 8.13342366e+01] [ 3.34898171e-01 9.41951801e-01 -2.38750820e-02 1.60718021e+01] [ 8.43339268e-02 -4.72796740e-03 9.96426332e-01 6.94681670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:16.11, Z:6.96 [[ 9.33577188e-01 -3.49099593e-01 -8.10130070e-02 8.13832516e+01] [ 3.48330163e-01 9.37067042e-01 -2.39051584e-02 1.61057619e+01] [ 8.42598999e-02 -5.90196337e-03 9.96426333e-01 6.95777551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99710568100001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:16.15, Z:6.96 [[ 9.32364360e-01 -3.52326724e-01 -8.10097478e-02 8.14305203e+01] [ 3.51568416e-01 9.35856647e-01 -2.39161983e-02 1.61525675e+01] [ 8.42398267e-02 -6.18185779e-03 9.96426333e-01 6.96319861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:16.20, Z:6.97 [[ 9.32234215e-01 -3.52672858e-01 -8.10013847e-02 8.14765301e+01] [ 3.51913403e-01 9.35726252e-01 -2.39444895e-02 1.61975692e+01] [ 8.42396937e-02 -6.18360052e-03 9.96426333e-01 6.97122196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.53, Y:16.24, Z:6.97 [[ 9.30235525e-01 -3.57912157e-01 -8.09984926e-02 8.15267829e+01] [ 3.57171514e-01 9.33731601e-01 -2.39542689e-02 1.62365752e+01] [ 8.42043762e-02 -6.64724233e-03 9.96426333e-01 6.97139795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.57, Y:16.28, Z:6.98 [[ 9.28953990e-01 -3.61226261e-01 -8.09942808e-02 8.15737389e+01] [ 3.60496856e-01 9.32452427e-01 -2.39685015e-02 1.62785834e+01] [ 8.41813659e-02 -6.93254846e-03 9.96426333e-01 6.98308377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:16.33, Z:6.99 [[ 9.29563502e-01 -3.59655793e-01 -8.09901547e-02 8.16187511e+01] [ 3.58919271e-01 9.33060448e-01 -2.39824356e-02 1.63320548e+01] [ 8.41941319e-02 -6.77573048e-03 9.96426333e-01 6.98531002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:16.37, Z:6.99 [[ 9.28362884e-01 -3.62745491e-01 -8.09818726e-02 8.16672709e+01] [ 3.62018185e-01 9.31861758e-01 -2.40103696e-02 1.63704465e+01] [ 8.41735635e-02 -7.02657448e-03 9.96426334e-01 6.98987259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:16.42, Z:6.99 [[ 9.23559905e-01 -3.74807185e-01 -8.09733017e-02 8.17146895e+01] [ 3.74123009e-01 9.27067467e-01 -2.40392397e-02 1.64188317e+01] [ 8.40777935e-02 -8.09229733e-03 9.96426334e-01 6.99188895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:16.46, Z:7.00 [[ 9.20462377e-01 -3.82352682e-01 -8.09656718e-02 8.17641889e+01] [ 3.81695002e-01 9.23975003e-01 -2.40649103e-02 1.64579880e+01] [ 8.40115398e-02 -8.75334770e-03 9.96426335e-01 6.99853125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.81, Y:16.50, Z:7.00 [[ 9.18901335e-01 -3.86090866e-01 -8.09578860e-02 8.18144977e+01] [ 3.85445193e-01 9.22416188e-01 -2.40910747e-02 1.64974199e+01] [ 8.39782084e-02 -9.06750728e-03 9.96426335e-01 6.99651128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:16.54, Z:6.99 [[ 9.20135636e-01 -3.83141564e-01 -8.09503094e-02 8.18644702e+01] [ 3.82482409e-01 9.23647985e-01 -2.41165064e-02 1.65386033e+01] [ 8.40096262e-02 -8.77161241e-03 9.96426335e-01 6.98850180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:16.57, Z:7.00 [[ 9.20868918e-01 -3.81377534e-01 -8.09420338e-02 8.19144031e+01] [ 3.80709238e-01 9.24379539e-01 -2.41442500e-02 1.65717691e+01] [ 8.40292344e-02 -8.58169063e-03 9.96426336e-01 6.99591148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:16.61, Z:7.01 [[ 9.21610896e-01 -3.79581913e-01 -8.09377995e-02 8.19636228e+01] [ 3.78905544e-01 9.25119970e-01 -2.41584362e-02 1.66063807e+01] [ 8.40472801e-02 -8.40310285e-03 9.96426336e-01 7.00574550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:16.65, Z:7.00 [[ 9.23692879e-01 -3.74488987e-01 -8.09287616e-02 8.20140420e+01] [ 3.73790634e-01 9.27197643e-01 -2.41886747e-02 1.66454767e+01] [ 8.40953493e-02 -7.90750661e-03 9.96426336e-01 7.00275596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:16.68, Z:7.01 [[ 9.25710101e-01 -3.69474836e-01 -8.09268471e-02 8.20636024e+01] [ 3.68756934e-01 9.29210913e-01 -2.41950783e-02 1.66810475e+01] [ 8.41375821e-02 -7.44470763e-03 9.96426336e-01 7.00591734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters Centerline goodness : 0.998191 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:16.72, Z:7.01 [[ 9.26466666e-01 -3.67575462e-01 -8.09184528e-02 8.21140953e+01] [ 3.66847951e-01 9.29965495e-01 -2.42231202e-02 1.67174592e+01] [ 8.41551935e-02 -7.24285524e-03 9.96426337e-01 7.00562573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897105681 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:16.75, Z:7.02 [[ 9.24563509e-01 -3.72336801e-01 -8.09173993e-02 8.21653690e+01] [ 3.71626994e-01 9.28065971e-01 -2.42266389e-02 1.67484247e+01] [ 8.41171539e-02 -7.67202366e-03 9.96426337e-01 7.01740325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957105681 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:16.78, Z:7.02 [[ 9.23854270e-01 -3.74094804e-01 -8.09096137e-02 8.22193331e+01] [ 3.73389408e-01 9.27357623e-01 -2.42526126e-02 1.67772879e+01] [ 8.41049234e-02 -7.80491302e-03 9.96426337e-01 7.02050563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017105681 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:16.81, Z:7.03 [[ 9.23298800e-01 -3.75463784e-01 -8.09090438e-02 8.22731797e+01] [ 3.74763416e-01 9.26803162e-01 -2.42545138e-02 1.68102784e+01] [ 8.40934491e-02 -7.92758613e-03 9.96426337e-01 7.02695991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077105681 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:16.84, Z:7.03 [[ 9.24283674e-01 -3.73032488e-01 -8.09101476e-02 8.23277669e+01] [ 3.72323219e-01 9.27786246e-01 -2.42508311e-02 1.68410209e+01] [ 8.41136699e-02 -7.71007938e-03 9.96426337e-01 7.03368412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters Centerline goodness : 0.996466 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:16.87, Z:7.04 [[ 9.26912498e-01 -3.66451235e-01 -8.09117620e-02 8.23843777e+01] [ 3.65717547e-01 9.30410036e-01 -2.42454435e-02 1.68686271e+01] [ 8.41658880e-02 -7.11744648e-03 9.96426337e-01 7.03705511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters Centerline goodness : 0.996227 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:16.90, Z:7.05 [[ 9.26969610e-01 -3.66306152e-01 -8.09144315e-02 8.24371323e+01] [ 3.65572688e-01 9.30467195e-01 -2.42365311e-02 1.68988633e+01] [ 8.41662145e-02 -7.11357853e-03 9.96426337e-01 7.04802599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257105681 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:16.93, Z:7.05 [[ 9.30066985e-01 -3.58368887e-01 -8.09144315e-02 8.24938094e+01] [ 3.57605552e-01 9.33558172e-01 -2.42365311e-02 1.69268517e+01] [ 8.42239474e-02 -6.39385259e-03 9.96426337e-01 7.05488280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317105681 meters Centerline goodness : 0.995667 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:16.95, Z:7.06 [[ 9.37243773e-01 -3.39155515e-01 -8.09175320e-02 8.25517627e+01] [ 3.38321397e-01 9.40718728e-01 -2.42261753e-02 1.69541398e+01] [ 8.43370787e-02 -4.67030048e-03 9.96426337e-01 7.06047416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377105681 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:16.98, Z:7.07 [[ 9.44413342e-01 -3.18644599e-01 -8.09262607e-02 8.26079657e+01] [ 3.17737429e-01 9.47869945e-01 -2.41969825e-02 1.69798722e+01] [ 8.44178080e-02 -2.86134891e-03 9.96426338e-01 7.06988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437105681 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:17.00, Z:7.08 [[ 9.51620565e-01 -2.96425507e-01 -8.09334205e-02 8.26660207e+01] [ 2.95439622e-01 9.55055546e-01 -2.41730109e-02 1.70037698e+01] [ 8.44614091e-02 -9.07404878e-04 9.96426338e-01 7.07806904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:17.02, Z:7.08 [[ 9.58177602e-01 -2.74488629e-01 -8.09424203e-02 8.27262390e+01] [ 2.73426651e-01 9.61589824e-01 -2.41428378e-02 1.70206366e+01] [ 8.44603422e-02 1.00131154e-03 9.96426338e-01 7.07706509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters Centerline goodness : 0.997162 with order 1 Centerline is valid? [True, True] Translation: X:82.79, Y:17.02, Z:7.07 [[ 9.60522624e-01 -2.66164065e-01 -8.09504751e-02 8.27896845e+01] [ 2.65074797e-01 9.63926232e-01 -2.41158003e-02 1.70232525e+01] [ 8.44490458e-02 1.70584102e-03 9.96426339e-01 7.07233705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617105681 meters Centerline goodness : 0.997082 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:17.03, Z:7.08 [[ 9.61545763e-01 -2.62441553e-01 -8.09578711e-02 8.28532533e+01] [ 2.61341200e-01 9.64945803e-01 -2.40909459e-02 1.70260729e+01] [ 8.44424232e-02 2.00691978e-03 9.96426339e-01 7.07971739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677105681 meters Centerline goodness : 0.995947 with order 1 Centerline is valid? [True, True] Translation: X:82.92, Y:17.01, Z:7.08 [[ 9.61947518e-01 -2.60962582e-01 -8.09660671e-02 8.29209629e+01] [ 2.59859321e-01 9.65346615e-01 -2.40633688e-02 1.70126407e+01] [ 8.44399577e-02 2.10791065e-03 9.96426340e-01 7.08280863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737105681 meters Centerline goodness : 0.995828 with order 1 Centerline is valid? [True, True] Translation: X:82.98, Y:17.02, Z:7.09 [[ 9.59449476e-01 -2.70001702e-01 -8.09677996e-02 8.29849270e+01] [ 2.68930963e-01 9.62858957e-01 -2.40575380e-02 1.70151255e+01] [ 8.44561473e-02 1.30724393e-03 9.96426340e-01 7.09186316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797105681 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:17.01, Z:7.10 [[ 9.53757066e-01 -2.89467268e-01 -8.09701200e-02 8.30516515e+01] [ 2.88466785e-01 9.57187821e-01 -2.40497257e-02 1.70081028e+01] [ 8.44652211e-02 -4.19594350e-04 9.96426340e-01 7.09656641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85710568100001 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:17.00, Z:7.10 [[ 9.48342804e-01 -3.06739948e-01 -8.09724074e-02 8.31152740e+01] [ 3.05802590e-01 9.51791341e-01 -2.40420220e-02 1.70010697e+01] [ 8.44434848e-02 -1.96149337e-03 9.96426340e-01 7.10126213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:17.00, Z:7.12 [[ 9.48930064e-01 -3.04918650e-01 -8.09712908e-02 8.31748946e+01] [ 3.03974353e-01 9.52376708e-01 -2.40457819e-02 1.70022901e+01] [ 8.44471787e-02 -1.79543035e-03 9.96426340e-01 7.11514390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:17.01, Z:7.13 [[ 9.53821468e-01 -2.89256841e-01 -8.09634929e-02 8.32334225e+01] [ 2.88253710e-01 9.57251449e-01 -2.40720094e-02 1.70072674e+01] [ 8.44654143e-02 -3.77627821e-04 9.96426340e-01 7.12668543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037105681 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:17.01, Z:7.13 [[ 9.57796038e-01 -2.75811758e-01 -8.09606295e-02 8.32926576e+01] [ 2.74759666e-01 9.61211320e-01 -2.40816359e-02 1.70123772e+01] [ 8.44622719e-02 8.20579976e-04 9.96426340e-01 7.12572865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097105681 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:83.35, Y:17.02, Z:7.13 [[ 9.61264250e-01 -2.63470827e-01 -8.09577973e-02 8.33533280e+01] [ 2.62374097e-01 9.64665460e-01 -2.40911534e-02 1.70161419e+01] [ 8.44445069e-02 1.91673547e-03 9.96426340e-01 7.12790372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157105681 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:17.02, Z:7.13 [[ 9.61982592e-01 -2.60838277e-01 -8.09499012e-02 8.34123587e+01] [ 2.59730011e-01 9.65380060e-01 -2.41176566e-02 1.70243401e+01] [ 8.44382284e-02 2.17564705e-03 9.96426341e-01 7.12733483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:17.02, Z:7.14 [[ 9.61241242e-01 -2.63559623e-01 -8.09419515e-02 8.34733433e+01] [ 2.62458734e-01 9.64641107e-01 -2.41443074e-02 1.70216483e+01] [ 8.44433983e-02 1.96458193e-03 9.96426341e-01 7.13524002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:17.02, Z:7.15 [[ 9.58676490e-01 -2.72742457e-01 -8.09378759e-02 8.35348973e+01] [ 2.71672987e-01 9.62086369e-01 -2.41579622e-02 1.70182707e+01] [ 8.44581291e-02 1.17103586e-03 9.96426341e-01 7.14695822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:17.02, Z:7.15 [[ 9.56720752e-01 -2.79527724e-01 -8.09299343e-02 8.35972238e+01] [ 2.78480191e-01 9.60137433e-01 -2.41845378e-02 1.70167103e+01] [ 8.44641082e-02 6.00465666e-04 9.96426341e-01 7.14694683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:17.02, Z:7.15 [[ 9.57242072e-01 -2.77739630e-01 -8.09216508e-02 8.36581771e+01] [ 2.76683375e-01 9.60656067e-01 -2.42122229e-02 1.70155464e+01] [ 8.44625685e-02 7.87282934e-04 9.96426342e-01 7.15155648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.72, Y:17.02, Z:7.16 [[ 9.59867762e-01 -2.68525686e-01 -8.09186958e-02 8.37178942e+01] [ 2.67435833e-01 9.63271180e-01 -2.42220946e-02 1.70208274e+01] [ 8.44509021e-02 1.60944893e-03 9.96426342e-01 7.15945264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.78, Y:17.02, Z:7.16 [[ 9.62552070e-01 -2.58741071e-01 -8.09108844e-02 8.37791375e+01] [ 2.57614441e-01 9.65943490e-01 -2.42481597e-02 1.70228698e+01] [ 8.44293369e-02 2.49630408e-03 9.96426342e-01 7.16085883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:17.02, Z:7.16 [[ 9.63645316e-01 -2.54641695e-01 -8.09031065e-02 8.38393356e+01] [ 2.53498466e-01 9.67031177e-01 -2.42740826e-02 1.70243518e+01] [ 8.44170198e-02 2.88279260e-03 9.96426343e-01 7.16479990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:17.03, Z:7.16 [[ 9.64741674e-01 -2.50459288e-01 -8.08928163e-02 8.38996590e+01] [ 2.49298516e-01 9.68121560e-01 -2.43083264e-02 1.70271615e+01] [ 8.44023257e-02 3.28479638e-03 9.96426343e-01 7.16146254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:17.03, Z:7.17 [[ 9.63535469e-01 -2.55061236e-01 -8.08898364e-02 8.39603865e+01] [ 2.53915779e-01 9.66920576e-01 -2.43182384e-02 1.70285661e+01] [ 8.44166872e-02 2.89227943e-03 9.96426343e-01 7.17081486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:17.03, Z:7.18 [[ 9.61204217e-01 -2.63713211e-01 -8.08813626e-02 8.40185370e+01] [ 2.62595866e-01 9.64598707e-01 -2.43463896e-02 1.70316080e+01] [ 8.44385223e-02 2.16274098e-03 9.96426344e-01 7.18328885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.08, Y:17.04, Z:7.19 [[ 9.58980340e-01 -2.71690038e-01 -8.08778742e-02 8.40778204e+01] [ 2.70599956e-01 9.62383683e-01 -2.43579723e-02 1.70373986e+01] [ 8.44533649e-02 1.47326734e-03 9.96426344e-01 7.18976548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.14, Y:17.04, Z:7.19 [[ 9.55927801e-01 -2.82244872e-01 -8.08694714e-02 8.41389343e+01] [ 2.81190016e-01 9.59342226e-01 -2.43858383e-02 1.70359635e+01] [ 8.44642765e-02 5.71412803e-04 9.96426344e-01 7.18816910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.20, Y:17.05, Z:7.19 [[ 9.54201190e-01 -2.88028979e-01 -8.08665318e-02 8.41978451e+01] [ 2.86993995e-01 9.57621691e-01 -2.43955825e-02 1.70451894e+01] [ 8.44661796e-02 7.00848359e-05 9.96426344e-01 7.18775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:17.05, Z:7.20 [[ 9.51926875e-01 -2.95460988e-01 -8.08580791e-02 8.42557874e+01] [ 2.94450331e-01 9.55354642e-01 -2.44235667e-02 1.70503954e+01] [ 8.44643523e-02 -5.59238604e-04 9.96426345e-01 7.20129897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:17.07, Z:7.21 [[ 9.49910502e-01 -3.01881576e-01 -8.08551257e-02 8.43112030e+01] [ 3.00893255e-01 9.53344776e-01 -2.44333399e-02 1.70657881e+01] [ 8.44587869e-02 -1.11927576e-03 9.96426345e-01 7.20605105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:17.08, Z:7.21 [[ 9.43865327e-01 -3.20282916e-01 -8.08523191e-02 8.43684788e+01] [ 3.19360720e-01 9.47317945e-01 -2.44426238e-02 1.70776856e+01] [ 8.44214076e-02 -2.75050972e-03 9.96426345e-01 7.21092669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.42, Y:17.10, Z:7.22 [[ 9.38594627e-01 -3.35416974e-01 -8.08429317e-02 8.44244190e+01] [ 3.34547744e-01 9.42060958e-01 -2.44736330e-02 1.70961737e+01] [ 8.43678416e-02 -4.07499998e-03 9.96426345e-01 7.21571508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:84.48, Y:17.12, Z:7.22 [[ 9.39347800e-01 -3.33303831e-01 -8.08348090e-02 8.44770327e+01] [ 3.32424502e-01 9.42811582e-01 -2.45004325e-02 1.71211389e+01] [ 8.43780822e-02 -3.85704371e-03 9.96426346e-01 7.22229328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:17.15, Z:7.22 [[ 9.43707044e-01 -3.20754117e-01 -8.08319932e-02 8.45305805e+01] [ 3.19827904e-01 9.47158585e-01 -2.45097191e-02 1.71490951e+01] [ 8.44223096e-02 -2.72233242e-03 9.96426346e-01 7.22220749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35710568100001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:17.18, Z:7.23 [[ 9.47501160e-01 -3.09368669e-01 -8.08243656e-02 8.45827075e+01] [ 3.08398825e-01 9.50940695e-01 -2.45348466e-02 1.71766193e+01] [ 8.44494912e-02 -1.67934370e-03 9.96426346e-01 7.23150746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:17.21, Z:7.24 [[ 9.52135010e-01 -2.94801042e-01 -8.08162640e-02 8.46328536e+01] [ 2.93776299e-01 9.55558590e-01 -2.45615038e-02 1.72088768e+01] [ 8.44654322e-02 -3.56035316e-04 9.96426347e-01 7.23837848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.69, Y:17.23, Z:7.24 [[ 9.54364281e-01 -2.87503033e-01 -8.08135212e-02 8.46878740e+01] [ 2.86451345e-01 9.57779680e-01 -2.45705248e-02 1.72263974e+01] [ 8.44656489e-02 3.00089380e-04 9.96426347e-01 7.23683790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:17.25, Z:7.25 [[ 9.56476153e-01 -2.80397893e-01 -8.08108309e-02 8.47410040e+01] [ 2.79320089e-01 9.59883400e-01 -2.45793698e-02 1.72505174e+01] [ 8.44609787e-02 9.37492633e-04 9.96426347e-01 7.24615474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:17.27, Z:7.25 [[ 9.60081027e-01 -2.67797389e-01 -8.08021092e-02 8.47970264e+01] [ 2.66672469e-01 9.63473010e-01 -2.46080086e-02 1.72671726e+01] [ 8.44406117e-02 2.07798425e-03 9.96426347e-01 7.24548824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:17.28, Z:7.24 [[ 9.63585862e-01 -2.54899580e-01 -8.07990817e-02 8.48541115e+01] [ 2.53728446e-01 9.66962167e-01 -2.46179452e-02 1.72824057e+01] [ 8.44047590e-02 3.22047856e-03 9.96426347e-01 7.24392290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:17.30, Z:7.24 [[ 9.65359362e-01 -2.48099154e-01 -8.07967339e-02 8.49108091e+01] [ 2.46903600e-01 9.68727098e-01 -2.46256483e-02 1.72965049e+01] [ 8.43795880e-02 3.82359565e-03 9.96426347e-01 7.24484165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:17.30, Z:7.25 [[ 9.64326026e-01 -2.52087081e-01 -8.07924503e-02 8.49674166e+01] [ 2.50904281e-01 9.67698262e-01 -2.46396940e-02 1.73041019e+01] [ 8.43940623e-02 3.48952647e-03 9.96426347e-01 7.25121695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.03, Y:17.30, Z:7.26 [[ 9.58695966e-01 -2.72718284e-01 -8.07885077e-02 8.50305175e+01] [ 2.71607019e-01 9.62092447e-01 -2.46526141e-02 1.72979602e+01] [ 8.44492317e-02 1.69163588e-03 9.96426347e-01 7.26453764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:17.30, Z:7.28 [[ 9.54355683e-01 -2.87538948e-01 -8.07872766e-02 8.50900533e+01] [ 2.86480098e-01 9.57768867e-01 -2.46566479e-02 1.73017171e+01] [ 8.44652850e-02 3.87265128e-04 9.96426347e-01 7.27601082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:17.30, Z:7.29 [[ 9.51960853e-01 -2.95373209e-01 -8.07787174e-02 8.51492474e+01] [ 2.94340071e-01 9.55381908e-01 -2.46846574e-02 1.73035121e+01] [ 8.44657116e-02 -2.77585931e-04 9.96426348e-01 7.28731486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:17.32, Z:7.29 [[ 9.54087321e-01 -2.88432903e-01 -8.07703150e-02 8.52056239e+01] [ 2.87372554e-01 9.57500040e-01 -2.47121204e-02 1.73165299e+01] [ 8.44653684e-02 3.66349087e-04 9.96426348e-01 7.28849698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:17.32, Z:7.29 [[ 9.58877527e-01 -2.72085484e-01 -8.07674278e-02 8.52652954e+01] [ 2.70966172e-01 9.62271364e-01 -2.47215532e-02 1.73228666e+01] [ 8.44465586e-02 1.81970106e-03 9.96426348e-01 7.29171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:17.33, Z:7.30 [[ 9.62201415e-01 -2.60089185e-01 -8.07592253e-02 8.53216746e+01] [ 2.58925333e-01 9.65580236e-01 -2.47483197e-02 1.73336104e+01] [ 8.44162822e-02 2.90225890e-03 9.96426349e-01 7.29548200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:17.34, Z:7.30 [[ 9.64049435e-01 -2.53154651e-01 -8.07552473e-02 8.53804548e+01] [ 2.51965417e-01 9.67419406e-01 -2.47612935e-02 1.73439676e+01] [ 8.43926300e-02 3.52358143e-03 9.96426349e-01 7.29789665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.44, Y:17.34, Z:7.30 [[ 9.62615262e-01 -2.58557047e-01 -8.07472011e-02 8.54417651e+01] [ 2.57384534e-01 9.65991087e-01 -2.47875048e-02 1.73439346e+01] [ 8.44100606e-02 3.07774964e-03 9.96426349e-01 7.29986123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.50, Y:17.35, Z:7.31 [[ 9.61627834e-01 -2.62208242e-01 -8.07387585e-02 8.55009062e+01] [ 2.61046245e-01 9.65007293e-01 -2.48149739e-02 1.73483435e+01] [ 8.44201814e-02 2.78621988e-03 9.96426349e-01 7.30893149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:17.35, Z:7.31 [[ 9.60290343e-01 -2.67065883e-01 -8.07358154e-02 8.55609814e+01] [ 2.65920180e-01 9.63675360e-01 -2.48245456e-02 1.73485118e+01] [ 8.44329052e-02 2.36948889e-03 9.96426350e-01 7.31225239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:85.62, Y:17.36, Z:7.31 [[ 9.57925594e-01 -2.75430197e-01 -8.07264724e-02 8.56199791e+01] [ 2.74311501e-01 9.61319632e-01 -2.48548909e-02 1.73561317e+01] [ 8.44497302e-02 1.66493625e-03 9.96426350e-01 7.31327958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:85.68, Y:17.36, Z:7.33 [[ 9.54862827e-01 -2.85869847e-01 -8.07181050e-02 8.56778065e+01] [ 2.84785971e-01 9.58268144e-01 -2.48820350e-02 1.73601318e+01] [ 8.44626122e-02 7.71546416e-04 9.96426350e-01 7.32642519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:85.74, Y:17.37, Z:7.33 [[ 9.53790437e-01 -2.89428678e-01 -8.07145765e-02 8.57359499e+01] [ 2.88356540e-01 9.57199468e-01 -2.48934760e-02 1.73712447e+01] [ 8.44648355e-02 4.68583352e-04 9.96426351e-01 7.33003523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617105681 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:85.79, Y:17.38, Z:7.34 [[ 9.54164034e-01 -2.88196880e-01 -8.07065978e-02 8.57923476e+01] [ 2.87118156e-01 9.57570986e-01 -2.49193168e-02 1.73831506e+01] [ 8.44639658e-02 6.04786277e-04 9.96426351e-01 7.33895512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677105681 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:85.85, Y:17.40, Z:7.35 [[ 9.54135246e-01 -2.88294746e-01 -8.06974122e-02 8.58488423e+01] [ 2.87213858e-01 9.57541511e-01 -2.49490279e-02 1.73964156e+01] [ 8.44637957e-02 6.27331770e-04 9.96426351e-01 7.34885558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737105681 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:17.41, Z:7.35 [[ 9.53376191e-01 -2.90797493e-01 -8.06886384e-02 8.59048554e+01] [ 2.89723148e-01 9.56784526e-01 -2.49773714e-02 1.74072031e+01] [ 8.44649976e-02 4.35464871e-04 9.96426352e-01 7.35342225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797105681 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:17.43, Z:7.36 [[ 9.55700357e-01 -2.83066833e-01 -8.06845499e-02 8.59599651e+01] [ 2.81963805e-01 9.59099517e-01 -2.49905716e-02 1.74277831e+01] [ 8.44585148e-02 1.13337546e-03 9.96426352e-01 7.35899928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85710568100001 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:17.45, Z:7.36 [[ 9.60100658e-01 -2.67764958e-01 -8.06762233e-02 8.60141105e+01] [ 2.66605521e-01 9.63480993e-01 -2.50174234e-02 1.74478971e+01] [ 8.44287971e-02 2.51051807e-03 9.96426352e-01 7.36437346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:17.46, Z:7.37 [[ 9.63996628e-01 -2.53383933e-01 -8.06664975e-02 8.60696189e+01] [ 2.52171483e-01 9.67358312e-01 -2.50487441e-02 1.74648246e+01] [ 8.43803562e-02 3.80511448e-03 9.96426353e-01 7.36570882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:17.48, Z:7.37 [[ 9.64900072e-01 -2.49922470e-01 -8.06635658e-02 8.61266668e+01] [ 2.48697175e-01 9.68257095e-01 -2.50581815e-02 1.74779491e+01] [ 8.43656725e-02 4.11784014e-03 9.96426353e-01 7.36909709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:17.48, Z:7.37 [[ 9.64369986e-01 -2.51963079e-01 -8.06544266e-02 8.61875507e+01] [ 2.50742437e-01 9.67728704e-01 -2.50875633e-02 1.74815650e+01] [ 8.43727434e-02 3.97020563e-03 9.96426353e-01 7.36919609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:17.49, Z:7.38 [[ 9.63592669e-01 -2.54922106e-01 -8.06466933e-02 8.62453717e+01] [ 2.53709705e-01 9.66954370e-01 -2.51123984e-02 1.74874673e+01] [ 8.43833780e-02 3.73727413e-03 9.96426354e-01 7.37750101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:17.50, Z:7.39 [[ 9.62025283e-01 -2.60775598e-01 -8.06439249e-02 8.63027054e+01] [ 2.59582914e-01 9.65394029e-01 -2.51212854e-02 1.74971365e+01] [ 8.44041819e-02 3.23352673e-03 9.96426354e-01 7.38806357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:17.51, Z:7.40 [[ 9.58996809e-01 -2.71702354e-01 -8.06408739e-02 8.63609679e+01] [ 2.70547246e-01 9.62378624e-01 -2.51310757e-02 1.75060838e+01] [ 8.44352257e-02 2.28345500e-03 9.96426354e-01 7.39553116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:17.52, Z:7.40 [[ 9.56293893e-01 -2.81070071e-01 -8.06325357e-02 8.64186836e+01] [ 2.79945846e-01 9.59686099e-01 -2.51578001e-02 1.75150357e+01] [ 8.44530283e-02 1.48550716e-03 9.96426354e-01 7.40110483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:17.53, Z:7.41 [[ 9.57717894e-01 -2.76179837e-01 -8.06296053e-02 8.64750057e+01] [ 2.75037503e-01 9.61104045e-01 -2.51671886e-02 1.75293254e+01] [ 8.44441098e-02 1.92690148e-03 9.96426354e-01 7.41142500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:17.54, Z:7.41 [[ 9.59576009e-01 -2.69655492e-01 -8.06213274e-02 8.65322780e+01] [ 2.68487915e-01 9.62953539e-01 -2.51936785e-02 1.75418507e+01] [ 8.44282063e-02 2.52939736e-03 9.96426355e-01 7.41090745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:86.59, Y:17.56, Z:7.41 [[ 9.59000386e-01 -2.71696380e-01 -8.06184585e-02 8.65901413e+01] [ 2.70535221e-01 9.62380128e-01 -2.52028553e-02 1.75565871e+01] [ 8.44331270e-02 2.35941549e-03 9.96426355e-01 7.41019997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:86.65, Y:17.57, Z:7.41 [[ 9.60382301e-01 -2.66772697e-01 -8.06111916e-02 8.66476289e+01] [ 2.65592267e-01 9.63755359e-01 -2.52260772e-02 1.75692261e+01] [ 8.44190966e-02 2.81696892e-03 9.96426355e-01 7.41082527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:17.59, Z:7.42 [[ 9.61506109e-01 -2.62695793e-01 -8.06034890e-02 8.67036736e+01] [ 2.61499005e-01 9.64873398e-01 -2.52506650e-02 1.75852547e+01] [ 8.44054058e-02 3.20093651e-03 9.96426355e-01 7.41750981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:86.76, Y:17.60, Z:7.42 [[ 9.61536819e-01 -2.62585692e-01 -8.05959111e-02 8.67594325e+01] [ 2.61386496e-01 9.64903250e-01 -2.52748296e-02 1.76022273e+01] [ 8.44040652e-02 3.23599640e-03 9.96426356e-01 7.42082461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:86.82, Y:17.61, Z:7.42 [[ 9.60041858e-01 -2.68002497e-01 -8.05871753e-02 8.68171764e+01] [ 2.66819966e-01 9.63414179e-01 -2.53026526e-02 1.76142615e+01] [ 8.44200014e-02 2.78933817e-03 9.96426356e-01 7.42421626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:86.87, Y:17.63, Z:7.43 [[ 9.56767211e-01 -2.79470106e-01 -8.05789290e-02 8.68744241e+01] [ 2.78325801e-01 9.60152694e-01 -2.53288865e-02 1.76254600e+01] [ 8.44467424e-02 1.80665308e-03 9.96426356e-01 7.42822391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:86.93, Y:17.64, Z:7.44 [[ 9.54198797e-01 -2.88118301e-01 -8.05760498e-02 8.69317021e+01] [ 2.87003912e-01 9.57594245e-01 -2.53380426e-02 1.76392780e+01] [ 8.44595154e-02 1.05188832e-03 9.96426356e-01 7.43627807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:17.65, Z:7.44 [[ 9.54227554e-01 -2.88025370e-01 -8.05677405e-02 8.69879800e+01] [ 2.86908422e-01 9.57622161e-01 -2.53644363e-02 1.76526464e+01] [ 8.44590549e-02 1.08788069e-03 9.96426357e-01 7.44056039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:17.67, Z:7.45 [[ 9.54272045e-01 -2.87878745e-01 -8.05648372e-02 8.70445274e+01] [ 2.86760497e-01 9.57666223e-01 -2.53736549e-02 1.76693292e+01] [ 8.44587593e-02 1.11055682e-03 9.96426357e-01 7.44513701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:17.69, Z:7.45 [[ 9.55085657e-01 -2.85170067e-01 -8.05569384e-02 8.71001231e+01] [ 2.84040081e-01 9.58475945e-01 -2.53987076e-02 1.76865725e+01] [ 8.44548388e-02 1.37654199e-03 9.96426357e-01 7.44755791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.15, Y:17.71, Z:7.46 [[ 9.57552080e-01 -2.76776232e-01 -8.05539042e-02 8.71547584e+01] [ 2.75615724e-01 9.60932042e-01 -2.54083272e-02 1.77060545e+01] [ 8.44392487e-02 2.12787397e-03 9.96426357e-01 7.45894701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:17.72, Z:7.47 [[ 9.56907277e-01 -2.78999749e-01 -8.05456528e-02 8.72104444e+01] [ 2.77844898e-01 9.60289176e-01 -2.54344578e-02 1.77222330e+01] [ 8.44433259e-02 1.95921910e-03 9.96426358e-01 7.46946311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:17.74, Z:7.48 [[ 9.52947869e-01 -2.92239764e-01 -8.05374388e-02 8.72659753e+01] [ 2.91129715e-01 9.56344736e-01 -2.54604406e-02 1.77390111e+01] [ 8.44621088e-02 8.15631000e-04 9.96426358e-01 7.47729400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:17.76, Z:7.49 [[ 9.46610701e-01 -3.12159017e-01 -8.05290545e-02 8.73198683e+01] [ 3.11118192e-01 9.50029414e-01 -2.54869319e-02 1.77583956e+01] [ 8.44609461e-02 -9.27851362e-04 9.96426358e-01 7.48874946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:17.78, Z:7.49 [[ 9.47476936e-01 -3.09520597e-01 -8.05261166e-02 8.73735121e+01] [ 3.08469463e-01 9.50892493e-01 -2.54962108e-02 1.77828573e+01] [ 8.44632822e-02 -6.82776253e-04 9.96426358e-01 7.48797099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35710568100001 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:17.81, Z:7.49 [[ 9.50955640e-01 -2.98664493e-01 -8.05164059e-02 8.74260080e+01] [ 2.97571772e-01 9.54358120e-01 -2.55268404e-02 1.78078973e+01] [ 8.44654466e-02 3.15483334e-04 9.96426359e-01 7.49267206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:17.83, Z:7.49 [[ 9.53653127e-01 -2.89938619e-01 -8.05065880e-02 8.74789571e+01] [ 2.88812157e-01 9.57044585e-01 -2.55577667e-02 1.78339952e+01] [ 8.44585777e-02 1.12196279e-03 9.96426359e-01 7.49237768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477105681 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:17.86, Z:7.49 [[ 9.57010894e-01 -2.78658272e-01 -8.04966824e-02 8.75330971e+01] [ 2.77489225e-01 9.60387910e-01 -2.55889274e-02 1.78582672e+01] [ 8.44386069e-02 2.15192033e-03 9.96426360e-01 7.48860711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:17.88, Z:7.49 [[ 9.60121270e-01 -2.67747627e-01 -8.04882256e-02 8.75881299e+01] [ 2.66537994e-01 9.63483961e-01 -2.56155004e-02 1.78791922e+01] [ 8.44076039e-02 3.14081655e-03 9.96426360e-01 7.49302738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:17.90, Z:7.50 [[ 9.63422461e-01 -2.55617175e-01 -8.04799484e-02 8.76437780e+01] [ 2.54363064e-01 9.66768817e-01 -2.56414797e-02 1.78983509e+01] [ 8.43599072e-02 4.23245126e-03 9.96426361e-01 7.49843308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:87.70, Y:17.91, Z:7.50 [[ 9.64548231e-01 -2.51338525e-01 -8.04714641e-02 8.76990135e+01] [ 2.50067361e-01 9.67888147e-01 -2.56680788e-02 1.79110303e+01] [ 8.43387533e-02 4.63481327e-03 9.96426361e-01 7.50346879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:87.76, Y:17.92, Z:7.51 [[ 9.63925454e-01 -2.53718562e-01 -8.04649641e-02 8.77563652e+01] [ 2.52453952e-01 9.67267857e-01 -2.56884391e-02 1.79215911e+01] [ 8.43488072e-02 4.44804222e-03 9.96426361e-01 7.50783830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:17.93, Z:7.51 [[ 9.61428254e-01 -2.63025886e-01 -8.04555553e-02 8.78128420e+01] [ 2.61791191e-01 9.64781822e-01 -2.57178736e-02 1.79323994e+01] [ 8.43865237e-02 3.66333465e-03 9.96426362e-01 7.51093708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:17.93, Z:7.52 [[ 9.56987417e-01 -2.78753755e-01 -8.04451826e-02 8.78732583e+01] [ 2.77571488e-01 9.60359824e-01 -2.57502786e-02 1.79349020e+01] [ 8.44343083e-02 2.31340363e-03 9.96426362e-01 7.52184662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.93, Y:17.94, Z:7.53 [[ 9.51704066e-01 -2.96292780e-01 -8.04360634e-02 8.79310235e+01] [ 2.95170281e-01 9.55096834e-01 -2.57787328e-02 1.79426980e+01] [ 8.44622819e-02 7.91389419e-04 9.96426363e-01 7.53032461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:87.99, Y:17.95, Z:7.53 [[ 9.43637147e-01 -3.21061421e-01 -8.04269799e-02 8.79892786e+01] [ 3.20025552e-01 9.47057360e-01 -2.58070415e-02 1.79533753e+01] [ 8.44546087e-02 -1.38620564e-03 9.96426363e-01 7.53181423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:17.97, Z:7.55 [[ 9.44005839e-01 -3.19977839e-01 -8.04186434e-02 8.80419921e+01] [ 3.18935834e-01 9.47424187e-01 -2.58329935e-02 1.79741340e+01] [ 8.44565532e-02 -1.26189038e-03 9.96426364e-01 7.54755776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:18.00, Z:7.55 [[ 9.44789317e-01 -3.17657781e-01 -8.04156708e-02 8.80951815e+01] [ 3.16606594e-01 9.48204853e-01 -2.58422435e-02 1.79960301e+01] [ 8.44595190e-02 -1.04465607e-03 9.96426364e-01 7.55407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:88.15, Y:18.03, Z:7.56 [[ 9.47690623e-01 -3.08896815e-01 -8.04067178e-02 8.81456348e+01] [ 3.07811690e-01 9.51095528e-01 -2.58700705e-02 1.80300382e+01] [ 8.44656521e-02 -2.33304458e-04 9.96426364e-01 7.55696190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:18.06, Z:7.56 [[ 9.50051194e-01 -3.01561104e-01 -8.03967015e-02 8.81981171e+01] [ 3.00447057e-01 9.53446745e-01 -2.59011611e-02 1.80581338e+01] [ 8.44647561e-02 4.52476672e-04 9.96426365e-01 7.55503862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:18.09, Z:7.55 [[ 9.53741282e-01 -2.89680292e-01 -8.03921420e-02 8.82495741e+01] [ 2.88522761e-01 9.57122256e-01 -2.59153051e-02 1.80926575e+01] [ 8.44522615e-02 1.52153351e-03 9.96426365e-01 7.55285880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:88.30, Y:18.12, Z:7.56 [[ 9.52424025e-01 -2.93984529e-01 -8.03839079e-02 8.83024610e+01] [ 2.92840125e-01 9.55809466e-01 -2.59408204e-02 1.81190574e+01] [ 8.44579000e-02 1.16702692e-03 9.96426365e-01 7.56244344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:18.14, Z:7.57 [[ 9.49478618e-01 -3.03364785e-01 -8.03751218e-02 8.83561099e+01] [ 3.02251529e-01 9.52874428e-01 -2.59680149e-02 1.81445835e+01] [ 8.44651795e-02 3.62571431e-04 9.96426366e-01 7.56859605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437105681 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:88.41, Y:18.17, Z:7.58 [[ 9.46198241e-01 -3.13448758e-01 -8.03664437e-02 8.84084868e+01] [ 3.12369412e-01 9.49604980e-01 -2.59948446e-02 1.81679159e+01] [ 8.44644269e-02 -5.07742541e-04 9.96426366e-01 7.57517985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:88.46, Y:18.19, Z:7.58 [[ 9.42138593e-01 -3.25448447e-01 -8.03628008e-02 8.84624346e+01] [ 3.24411524e-01 9.45558484e-01 -2.60061017e-02 1.81904994e+01] [ 8.44513735e-02 -1.56926657e-03 9.96426366e-01 7.58189097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:18.22, Z:7.59 [[ 9.35924094e-01 -3.42912944e-01 -8.03542319e-02 8.85141658e+01] [ 3.41937532e-01 9.39362034e-01 -2.60325512e-02 1.82161979e+01] [ 8.44086135e-02 -3.11163583e-03 9.96426366e-01 7.59042323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617105681 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:18.25, Z:7.59 [[ 9.28536147e-01 -3.62443652e-01 -8.03443997e-02 8.85638774e+01] [ 3.61537860e-01 9.31993081e-01 -2.60628612e-02 1.82486620e+01] [ 8.43267433e-02 -4.84723362e-03 9.96426367e-01 7.59176021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677105681 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:18.28, Z:7.59 [[ 9.27690624e-01 -3.64603828e-01 -8.03377575e-02 8.86139208e+01] [ 3.63704319e-01 9.31149198e-01 -2.60833196e-02 1.82835820e+01] [ 8.43165167e-02 -5.02193831e-03 9.96426367e-01 7.59328711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:18.33, Z:7.59 [[ 9.33469851e-01 -3.49544616e-01 -8.03280661e-02 8.86629764e+01] [ 3.48586700e-01 9.36912705e-01 -2.61131321e-02 1.83259269e+01] [ 8.43880904e-02 -3.62547393e-03 9.96426368e-01 7.59037623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:88.71, Y:18.36, Z:7.59 [[ 9.39959964e-01 -3.31697805e-01 -8.03233020e-02 8.87112728e+01] [ 3.30673222e-01 9.43383570e-01 -2.61277782e-02 1.83643606e+01] [ 8.44422100e-02 -2.00169965e-03 9.96426368e-01 7.59440038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:18.40, Z:7.60 [[ 9.48110832e-01 -3.07627240e-01 -8.03201864e-02 8.87606368e+01] [ 3.06514900e-01 9.51506939e-01 -2.61373525e-02 1.84040219e+01] [ 8.44657763e-02 1.61773125e-04 9.96426368e-01 7.59840154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:18.44, Z:7.61 [[ 9.52427885e-01 -2.93991630e-01 -8.03121770e-02 8.88101364e+01] [ 2.92828603e-01 9.55806969e-01 -2.61619398e-02 1.84389914e+01] [ 8.44543298e-02 1.39965844e-03 9.96426368e-01 7.60802350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:18.47, Z:7.61 [[ 9.55301846e-01 -2.84516622e-01 -8.03036384e-02 8.88601600e+01] [ 2.83317887e-01 9.58668429e-01 -2.61881228e-02 1.84718990e+01] [ 8.44355191e-02 2.26610490e-03 9.96426369e-01 7.60937923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:18.50, Z:7.60 [[ 9.56999834e-01 -2.78752778e-01 -8.03007190e-02 8.89160670e+01] [ 2.77533022e-01 9.60358857e-01 -2.61970714e-02 1.84972443e+01] [ 8.44200132e-02 2.78449182e-03 9.96426369e-01 7.60407446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:18.51, Z:7.61 [[ 9.56542309e-01 -2.80318755e-01 -8.03007190e-02 8.89720968e+01] [ 2.79104499e-01 9.59903324e-01 -2.61970714e-02 1.85147927e+01] [ 8.44244576e-02 2.64631531e-03 9.96426369e-01 7.61095395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:18.53, Z:7.62 [[ 9.54691757e-01 -2.86560233e-01 -8.02924833e-02 8.90281317e+01] [ 2.85365834e-01 9.58059879e-01 -2.62222894e-02 1.85311377e+01] [ 8.44392722e-02 2.12147205e-03 9.96426369e-01 7.62025608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:18.54, Z:7.63 [[ 9.49310910e-01 -3.03913299e-01 -8.02838894e-02 8.90854525e+01] [ 3.02778265e-01 9.52699499e-01 -2.62485745e-02 1.85407182e+01] [ 8.44637121e-02 6.09841474e-04 9.96426369e-01 7.62739111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:18.55, Z:7.63 [[ 9.43528337e-01 -3.21417952e-01 -8.02793711e-02 8.91432985e+01] [ 3.20344605e-01 9.46936968e-01 -2.62623863e-02 1.85538103e+01] [ 8.44607067e-02 -9.37757767e-04 9.96426369e-01 7.62958421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:18.57, Z:7.63 [[ 9.38585228e-01 -3.35580595e-01 -8.02710076e-02 8.91998220e+01] [ 3.34556484e-01 9.42008972e-01 -2.62879248e-02 1.85705747e+01] [ 8.44377268e-02 -2.18172818e-03 9.96426370e-01 7.63259316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:18.59, Z:7.64 [[ 9.34043458e-01 -3.48024063e-01 -8.02625133e-02 8.92547855e+01] [ 3.47043318e-01 9.37479876e-01 -2.63138339e-02 1.85893389e+01] [ 8.44023384e-02 -3.27630451e-03 9.96426370e-01 7.63993308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:18.61, Z:7.65 [[ 9.30890349e-01 -3.56374380e-01 -8.02524783e-02 8.93066820e+01] [ 3.55421818e-01 9.34334685e-01 -2.63444037e-02 1.86146743e+01] [ 8.43711445e-02 -3.99973063e-03 9.96426371e-01 7.64623790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.36, Y:18.64, Z:7.65 [[ 9.29313508e-01 -3.60467302e-01 -8.02479169e-02 8.93592597e+01] [ 3.59528710e-01 9.32761677e-01 -2.63582909e-02 1.86417443e+01] [ 8.43534836e-02 -4.35631426e-03 9.96426371e-01 7.65230234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.41, Y:18.67, Z:7.66 [[ 9.28634725e-01 -3.62214259e-01 -8.02395010e-02 8.94114792e+01] [ 3.61279949e-01 9.32084057e-01 -2.63838856e-02 1.86711044e+01] [ 8.43465792e-02 -4.48793048e-03 9.96426371e-01 7.66016868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.46, Y:18.70, Z:7.66 [[ 9.30689441e-01 -3.56903672e-01 -8.02305042e-02 8.94636132e+01] [ 3.55947323e-01 9.34132727e-01 -2.64112157e-02 1.87010291e+01] [ 8.43721995e-02 -3.97719368e-03 9.96426372e-01 7.65843239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:18.74, Z:7.66 [[ 9.37438396e-01 -3.38781706e-01 -8.02259880e-02 8.95132902e+01] [ 3.37757567e-01 9.40862131e-01 -2.64249269e-02 1.87381659e+01] [ 8.44338759e-02 -2.32519345e-03 9.96426372e-01 7.65948682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:18.77, Z:7.67 [[ 9.45035851e-01 -3.16973946e-01 -8.02169382e-02 8.95641911e+01] [ 3.15868437e-01 9.48434185e-01 -2.64523708e-02 1.87689409e+01] [ 8.44651987e-02 -3.39560156e-04 9.96426372e-01 7.67011002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:18.80, Z:7.69 [[ 9.47893389e-01 -3.08325750e-01 -8.02081937e-02 8.96156076e+01] [ 3.07186995e-01 9.51280726e-01 -2.64788591e-02 1.87967529e+01] [ 8.44646228e-02 4.60221526e-04 9.96426372e-01 7.68590165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:18.82, Z:7.69 [[ 9.44281880e-01 -3.19217445e-01 -8.01994588e-02 8.96693506e+01] [ 3.18115516e-01 9.47681375e-01 -2.65052893e-02 1.88184100e+01] [ 8.44644841e-02 -4.84227771e-04 9.96426373e-01 7.69423551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:18.84, Z:7.70 [[ 9.42962261e-01 -3.23095930e-01 -8.01947318e-02 8.97259193e+01] [ 3.22006767e-01 9.46365867e-01 -2.65195836e-02 1.88363953e+01] [ 8.44619264e-02 -8.16279778e-04 9.96426373e-01 7.69631849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.78, Y:18.86, Z:7.70 [[ 9.46030430e-01 -3.14001040e-01 -8.01858569e-02 8.97812728e+01] [ 3.12876882e-01 9.49422638e-01 -2.65463911e-02 1.88553292e+01] [ 8.44658622e-02 2.53929695e-05 9.96426373e-01 7.69968469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:89.84, Y:18.87, Z:7.69 [[ 9.50802912e-01 -2.99241627e-01 -8.01765012e-02 8.98373643e+01] [ 2.98062438e-01 9.54176385e-01 -2.65746176e-02 1.88741172e+01] [ 8.44547559e-02 1.36962033e-03 9.96426374e-01 7.69437466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:89.90, Y:18.88, Z:7.70 [[ 9.53229988e-01 -2.91420311e-01 -8.01672800e-02 8.98959664e+01] [ 2.90211112e-01 9.56592820e-01 -2.66024064e-02 1.88815319e+01] [ 8.44399259e-02 2.09277606e-03 9.96426374e-01 7.69563405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:18.89, Z:7.71 [[ 9.51216970e-01 -2.97926177e-01 -8.01640129e-02 8.99551651e+01] [ 2.96739152e-01 9.54587693e-01 -2.66122478e-02 1.88870689e+01] [ 8.44520654e-02 1.52622053e-03 9.96426374e-01 7.70792115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:18.89, Z:7.71 [[ 9.50884853e-01 -2.98986894e-01 -8.01550655e-02 9.00158761e+01] [ 2.97801360e-01 9.54256100e-01 -2.66391698e-02 1.88907051e+01] [ 8.44532228e-02 1.46049546e-03 9.96426375e-01 7.71106823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:90.07, Y:18.90, Z:7.72 [[ 9.50735463e-01 -2.99464038e-01 -8.01459281e-02 9.00732686e+01] [ 2.98277882e-01 9.54106491e-01 -2.66666320e-02 1.89001676e+01] [ 8.44534476e-02 1.44715506e-03 9.96426375e-01 7.72049579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35710568100001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:90.13, Y:18.91, Z:7.73 [[ 9.49437735e-01 -3.03554144e-01 -8.01427994e-02 9.01316873e+01] [ 3.02381718e-01 9.52813563e-01 -2.66760316e-02 1.89079295e+01] [ 8.44587662e-02 1.09351367e-03 9.96426375e-01 7.73038947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:18.92, Z:7.74 [[ 9.49143020e-01 -3.04476721e-01 -8.01339732e-02 9.01873090e+01] [ 3.03305340e-01 9.52519210e-01 -2.67025191e-02 1.89244539e+01] [ 8.44594443e-02 1.03944763e-03 9.96426376e-01 7.73723971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:18.94, Z:7.74 [[ 9.50357333e-01 -3.00665946e-01 -8.01306981e-02 9.02432768e+01] [ 2.99480200e-01 9.53728505e-01 -2.67123438e-02 1.89378162e+01] [ 8.44544230e-02 1.38871435e-03 9.96426376e-01 7.74064817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:18.95, Z:7.74 [[ 9.52488256e-01 -2.93846388e-01 -8.01275436e-02 9.03001759e+01] [ 2.92635714e-01 9.55850555e-01 -2.67218027e-02 1.89527069e+01] [ 8.44420623e-02 2.00402235e-03 9.96426376e-01 7.74315406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:18.96, Z:7.75 [[ 9.53914821e-01 -2.89184178e-01 -8.01188199e-02 9.03588249e+01] [ 2.87954881e-01 9.57270356e-01 -2.67479331e-02 1.89619179e+01] [ 8.44304503e-02 2.44464459e-03 9.96426376e-01 7.74689536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:18.97, Z:7.75 [[ 9.55212951e-01 -2.84869388e-01 -8.01102375e-02 9.04167023e+01] [ 2.83622785e-01 9.58562095e-01 -2.67736128e-02 1.89727444e+01] [ 8.44176198e-02 2.85341307e-03 9.96426376e-01 7.75417180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:18.98, Z:7.76 [[ 9.55280987e-01 -2.84643532e-01 -8.01017773e-02 9.04755940e+01] [ 2.83394019e-01 9.58629047e-01 -2.67989004e-02 1.89820530e+01] [ 8.44160241e-02 2.90011544e-03 9.96426377e-01 7.75666732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:18.99, Z:7.77 [[ 9.55871428e-01 -2.82656889e-01 -8.00930440e-02 9.05341024e+01] [ 2.81398236e-01 9.59216062e-01 -2.68249762e-02 1.89906900e+01] [ 8.44087986e-02 3.10318697e-03 9.96426377e-01 7.76519924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:19.00, Z:7.77 [[ 9.52612368e-01 -2.93455644e-01 -8.00840825e-02 9.05924468e+01] [ 2.92232675e-01 9.55970214e-01 -2.68517036e-02 1.90015362e+01] [ 8.44377815e-02 2.17607924e-03 9.96426377e-01 7.77358313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:19.01, Z:7.77 [[ 9.49109074e-01 -3.04597959e-01 -8.00752695e-02 9.06527743e+01] [ 3.03412206e-01 9.52480241e-01 -2.68779594e-02 1.90074984e+01] [ 8.44570836e-02 1.21430106e-03 9.96426378e-01 7.77419769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:19.02, Z:7.77 [[ 9.48367852e-01 -3.06900287e-01 -8.00664190e-02 9.07084639e+01] [ 3.05720495e-01 9.51741109e-01 -2.69042986e-02 1.90226755e+01] [ 8.44594393e-02 1.03722660e-03 9.96426378e-01 7.77435240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:19.04, Z:7.78 [[ 9.50717166e-01 -2.99544212e-01 -8.00633178e-02 9.07656208e+01] [ 2.98337546e-01 9.54080904e-01 -2.69135241e-02 1.90374039e+01] [ 8.44486730e-02 1.70125564e-03 9.96426378e-01 7.77638545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:19.05, Z:7.78 [[ 9.51012164e-01 -2.98608716e-01 -8.00543539e-02 9.08235650e+01] [ 2.97396500e-01 9.54373905e-01 -2.69401609e-02 1.90503470e+01] [ 8.44463532e-02 1.81253609e-03 9.96426379e-01 7.78103080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:90.88, Y:19.07, Z:7.79 [[ 9.50534621e-01 -3.00127547e-01 -8.00461767e-02 9.08803869e+01] [ 2.98918660e-01 9.53897560e-01 -2.69644358e-02 1.90650054e+01] [ 8.44486226e-02 1.70333390e-03 9.96426379e-01 7.79345250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:90.94, Y:19.08, Z:7.81 [[ 9.45671116e-01 -3.15117261e-01 -8.00453167e-02 9.09362541e+01] [ 3.13961474e-01 9.49052672e-01 -2.69669885e-02 1.90761903e+01] [ 8.44649852e-02 3.70756485e-04 9.96426379e-01 7.81030462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:19.09, Z:7.81 [[ 9.41494757e-01 -3.27384998e-01 -8.00417685e-02 9.09923799e+01] [ 3.26272377e-01 9.44890761e-01 -2.69775158e-02 1.90905777e+01] [ 8.44627615e-02 -7.16228326e-04 9.96426379e-01 7.81225070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317105681 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:91.05, Y:19.11, Z:7.81 [[ 9.38313565e-01 -3.36396369e-01 -8.00320980e-02 9.10490073e+01] [ 3.35313913e-01 9.41719303e-01 -2.70061743e-02 1.91128540e+01] [ 8.44525505e-02 -1.49561632e-03 9.96426380e-01 7.80549692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:19.13, Z:7.81 [[ 9.37227434e-01 -3.39411481e-01 -8.00286430e-02 9.11027703e+01] [ 3.38339107e-01 9.40636360e-01 -2.70164087e-02 1.91342701e+01] [ 8.44475308e-02 -1.75630024e-03 9.96426380e-01 7.80990881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437105681 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:19.16, Z:7.82 [[ 9.39722392e-01 -3.32442558e-01 -8.00235733e-02 9.11570554e+01] [ 3.31343622e-01 9.43122848e-01 -2.70314171e-02 1.91574495e+01] [ 8.44584538e-02 -1.11327275e-03 9.96426380e-01 7.81776400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:19.18, Z:7.83 [[ 9.42946196e-01 -3.23187312e-01 -8.00152020e-02 9.12115209e+01] [ 3.22052896e-01 9.46334981e-01 -2.70561744e-02 1.91795015e+01] [ 8.44653969e-02 -2.56610759e-04 9.96426380e-01 7.82773985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:19.20, Z:7.84 [[ 9.43654470e-01 -3.21115557e-01 -8.00065006e-02 9.12654199e+01] [ 3.19971521e-01 9.47040019e-01 -2.70818805e-02 1.92022867e+01] [ 8.44657710e-02 -4.38641160e-05 9.96426380e-01 7.83710301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:19.22, Z:7.85 [[ 9.45153893e-01 -3.16677247e-01 -7.99977476e-02 9.13190329e+01] [ 3.15515127e-01 9.48533276e-01 -2.71077117e-02 1.92232356e+01] [ 8.44649211e-02 3.80459713e-04 9.96426381e-01 7.85424031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:19.25, Z:7.85 [[ 9.48054224e-01 -3.07887997e-01 -7.99885554e-02 9.13725244e+01] [ 3.06692265e-01 9.51421861e-01 -2.71348088e-02 1.92508403e+01] [ 8.44573421e-02 1.19339888e-03 9.96426381e-01 7.85183702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:19.28, Z:7.85 [[ 9.53946174e-01 -2.89119416e-01 -7.99791251e-02 9.14257213e+01] [ 2.87855135e-01 9.57288679e-01 -2.71625760e-02 1.92750896e+01] [ 8.44163391e-02 2.88923359e-03 9.96426382e-01 7.84971492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:19.29, Z:7.85 [[ 9.56263892e-01 -2.81359616e-01 -7.99758384e-02 9.14817690e+01] [ 2.80067413e-01 9.59595703e-01 -2.71722497e-02 1.92932312e+01] [ 8.43896446e-02 3.58521510e-03 9.96426382e-01 7.84866643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85710568100001 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:19.30, Z:7.85 [[ 9.56550856e-01 -2.80383777e-01 -7.99712259e-02 9.15406480e+01] [ 2.79087044e-01 9.59880906e-01 -2.71858182e-02 1.93030992e+01] [ 8.43853151e-02 3.68568464e-03 9.96426382e-01 7.85367050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:91.60, Y:19.31, Z:7.86 [[ 9.55515178e-01 -2.83895807e-01 -7.99619646e-02 9.15996822e+01] [ 2.82609043e-01 9.58849091e-01 -2.72130314e-02 1.93077750e+01] [ 8.43971226e-02 3.40449027e-03 9.96426382e-01 7.85880353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977105681 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:91.66, Y:19.31, Z:7.86 [[ 9.53832873e-01 -2.89500538e-01 -7.99517933e-02 9.16591677e+01] [ 2.88230869e-01 9.57173334e-01 -2.72428820e-02 1.93113634e+01] [ 8.44145535e-02 2.94058150e-03 9.96426383e-01 7.86399481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:91.72, Y:19.32, Z:7.88 [[ 9.46808054e-01 -3.11710798e-01 -7.99430242e-02 9.17178250e+01] [ 3.10517366e-01 9.50176504e-01 -2.72685903e-02 1.93188628e+01] [ 8.44598973e-02 9.94423616e-04 9.96426383e-01 7.87766144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097105681 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:19.34, Z:7.88 [[ 9.45131529e-01 -3.16760077e-01 -7.99340075e-02 9.17735867e+01] [ 3.15582409e-01 9.48505523e-01 -2.72949959e-02 1.93375837e+01] [ 8.44638126e-02 5.71594646e-04 9.96426383e-01 7.88401147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157105681 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:19.36, Z:7.89 [[ 9.47102069e-01 -3.10821090e-01 -7.99244735e-02 9.18280596e+01] [ 3.09619912e-01 9.50467764e-01 -2.73228848e-02 1.93555148e+01] [ 8.44581644e-02 1.13135225e-03 9.96426384e-01 7.88627477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217105681 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:19.37, Z:7.89 [[ 9.49263489e-01 -3.04157598e-01 -7.99186083e-02 9.18835762e+01] [ 3.02931355e-01 9.52620133e-01 -2.73400297e-02 1.93739509e+01] [ 8.44477530e-02 1.74303975e-03 9.96426384e-01 7.88758147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:91.94, Y:19.39, Z:7.89 [[ 9.50832254e-01 -2.99220280e-01 -7.99077526e-02 9.19387232e+01] [ 2.97973947e-01 9.54181490e-01 -2.73717213e-02 1.93921239e+01] [ 8.44366726e-02 2.21548699e-03 9.96426385e-01 7.88695785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337105681 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:92.00, Y:19.40, Z:7.90 [[ 9.50117919e-01 -3.01482132e-01 -7.99028468e-02 9.19954125e+01] [ 3.00242570e-01 9.53469666e-01 -2.73860349e-02 1.94041042e+01] [ 8.44413408e-02 2.02972643e-03 9.96426385e-01 7.89813058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397105681 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:19.42, Z:7.90 [[ 9.44552524e-01 -3.18491089e-01 -7.98996621e-02 9.20528330e+01] [ 3.17311115e-01 9.47925711e-01 -2.73953231e-02 1.94157830e+01] [ 8.44641103e-02 5.23270680e-04 9.96426385e-01 7.89771371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457105681 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:19.43, Z:7.91 [[ 9.42543208e-01 -3.24389948e-01 -7.98965805e-02 9.21079548e+01] [ 3.23230324e-01 9.45923444e-01 -2.74043076e-02 1.94339796e+01] [ 8.44657305e-02 4.74641511e-06 9.96426385e-01 7.90545709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:19.46, Z:7.91 [[ 9.46514389e-01 -3.12615449e-01 -7.98879949e-02 9.21603285e+01] [ 3.11411668e-01 9.49879153e-01 -2.74293131e-02 1.94594191e+01] [ 8.44587680e-02 1.08418573e-03 9.96426385e-01 7.90966335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577105681 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:92.21, Y:19.48, Z:7.92 [[ 9.51887676e-01 -2.95853766e-01 -7.98774147e-02 9.22134699e+01] [ 2.94588180e-01 9.55229683e-01 -2.74600896e-02 1.94825116e+01] [ 8.44254485e-02 2.60797860e-03 9.96426386e-01 7.91577781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:19.50, Z:7.90 [[ 9.55484569e-01 -2.84023947e-01 -7.98726209e-02 9.22699742e+01] [ 2.82715842e-01 9.58810164e-01 -2.74740261e-02 1.95049657e+01] [ 8.43859621e-02 3.66975268e-03 9.96426386e-01 7.90340136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:19.52, Z:7.91 [[ 9.56162168e-01 -2.81734838e-01 -7.98710874e-02 9.23279124e+01] [ 2.80418401e-01 9.59484473e-01 -2.74784836e-02 1.95176707e+01] [ 8.43767143e-02 3.87656383e-03 9.96426386e-01 7.90810261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:19.53, Z:7.92 [[ 9.55945397e-01 -2.82472062e-01 -7.98619576e-02 9.23846594e+01] [ 2.81155977e-01 9.59267842e-01 -2.75049925e-02 1.95292726e+01] [ 8.43783996e-02 3.83960428e-03 9.96426386e-01 7.91881772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:19.54, Z:7.92 [[ 9.57216317e-01 -2.78136212e-01 -7.98571898e-02 9.24400262e+01] [ 2.76803930e-01 9.60532299e-01 -2.75188283e-02 1.95419383e+01] [ 8.43593928e-02 4.23668750e-03 9.96426386e-01 7.92303574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:19.55, Z:7.93 [[ 9.56512034e-01 -2.80550577e-01 -7.98504986e-02 9.25003041e+01] [ 2.79225051e-01 9.59830723e-01 -2.75382302e-02 1.95482267e+01] [ 8.43688282e-02 4.04438901e-03 9.96426387e-01 7.92896675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937105681 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:19.56, Z:7.94 [[ 9.54463179e-01 -2.87446171e-01 -7.98419561e-02 9.25586003e+01] [ 2.86142563e-01 9.57790539e-01 -2.75629755e-02 1.95562412e+01] [ 8.43947419e-02 3.46166329e-03 9.96426387e-01 7.93961530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:19.57, Z:7.94 [[ 9.50400011e-01 -3.00608720e-01 -7.98386854e-02 9.26155551e+01] [ 2.99350424e-01 9.53744769e-01 -2.75724462e-02 1.95674968e+01] [ 8.44342463e-02 2.30510884e-03 9.96426387e-01 7.94485459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:19.58, Z:7.95 [[ 9.46612339e-01 -3.12333961e-01 -7.98284199e-02 9.26721709e+01] [ 3.11114603e-01 9.49971487e-01 -2.76021352e-02 1.95805913e+01] [ 8.44558070e-02 1.29273462e-03 9.96426387e-01 7.94763569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:19.59, Z:7.95 [[ 9.42197462e-01 -3.25412082e-01 -7.98180330e-02 9.27294952e+01] [ 3.24236815e-01 9.45572288e-01 -2.76321389e-02 1.95916282e+01] [ 8.44655520e-02 1.54986392e-04 9.96426388e-01 7.94615151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:92.78, Y:19.61, Z:7.95 [[ 9.38932646e-01 -3.34716774e-01 -7.98133327e-02 9.27843455e+01] [ 3.33573796e-01 9.42318543e-01 -2.76457087e-02 1.96100864e+01] [ 8.44630658e-02 -6.66178006e-04 9.96426388e-01 7.95391281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:92.84, Y:19.63, Z:7.97 [[ 9.36798793e-01 -3.40644418e-01 -7.98085349e-02 9.28377521e+01] [ 3.39521684e-01 9.40191457e-01 -2.76595523e-02 1.96318679e+01] [ 8.44573748e-02 -1.18529295e-03 9.96426388e-01 7.97103464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:19.66, Z:7.98 [[ 9.34996069e-01 -3.45563965e-01 -7.97991065e-02 9.28888450e+01] [ 3.44456761e-01 9.38393832e-01 -2.76867270e-02 1.96600256e+01] [ 8.44505245e-02 -1.60036085e-03 9.96426389e-01 7.97594422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35710568100001 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:92.94, Y:19.69, Z:7.98 [[ 9.32207011e-01 -3.53021130e-01 -7.97882807e-02 9.29394102e+01] [ 3.51938435e-01 9.35612664e-01 -2.77178900e-02 1.96904994e+01] [ 8.44359267e-02 -2.24175128e-03 9.96426389e-01 7.97863766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:19.72, Z:7.98 [[ 9.29354210e-01 -3.60466782e-01 -7.97775156e-02 9.29910399e+01] [ 3.59408711e-01 9.32767592e-01 -2.77488398e-02 1.97197189e+01] [ 8.44164161e-02 -2.88423297e-03 9.96426390e-01 7.97696784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:93.04, Y:19.76, Z:7.98 [[ 9.28318135e-01 -3.63127408e-01 -7.97742187e-02 9.30396614e+01] [ 3.62078306e-01 9.31734284e-01 -2.77583146e-02 1.97606830e+01] [ 8.44081794e-02 -3.11596717e-03 9.96426390e-01 7.97683173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:93.09, Y:19.79, Z:7.98 [[ 9.30450869e-01 -3.57629395e-01 -7.97646294e-02 9.30889533e+01] [ 3.56557745e-01 9.33860012e-01 -2.77858429e-02 1.97924091e+01] [ 8.44260319e-02 -2.58733474e-03 9.96426390e-01 7.98218248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:93.14, Y:19.83, Z:7.99 [[ 9.33059586e-01 -3.50767961e-01 -7.97599308e-02 9.31391775e+01] [ 3.49670084e-01 9.36460373e-01 -2.77993236e-02 1.98273393e+01] [ 8.44431266e-02 -1.95123635e-03 9.96426390e-01 7.98966143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657105681 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:19.86, Z:8.00 [[ 9.36130958e-01 -3.42488940e-01 -7.97505877e-02 9.31882297e+01] [ 3.41358700e-01 9.39521126e-01 -2.78261015e-02 1.98639481e+01] [ 8.44574939e-02 -1.17468184e-03 9.96426391e-01 8.00116630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:19.89, Z:8.01 [[ 9.38093514e-01 -3.37078493e-01 -7.97411318e-02 9.32372490e+01] [ 3.35926398e-01 9.41476317e-01 -2.78531729e-02 1.98942245e+01] [ 8.44630927e-02 -6.58270300e-04 9.96426391e-01 8.00710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:19.93, Z:8.01 [[ 9.42141371e-01 -3.25594411e-01 -7.97365452e-02 9.32873411e+01] [ 3.24399969e-01 9.45509455e-01 -2.78662970e-02 1.99288044e+01] [ 8.44647680e-02 3.87458461e-04 9.96426391e-01 8.00604013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:19.96, Z:8.01 [[ 9.45211978e-01 -3.16571900e-01 -7.97279628e-02 9.33385824e+01] [ 3.15343243e-01 9.48567731e-01 -2.78908307e-02 1.99577023e+01] [ 8.44568260e-02 1.22107293e-03 9.96426391e-01 8.00627981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:19.99, Z:8.01 [[ 9.44497522e-01 -3.18697989e-01 -7.97246651e-02 9.33908964e+01] [ 3.17476090e-01 9.47855742e-01 -2.79002538e-02 1.99860650e+01] [ 8.44592364e-02 1.04104559e-03 9.96426391e-01 8.01237106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:93.45, Y:20.00, Z:8.01 [[ 9.42865492e-01 -3.23496869e-01 -7.97147441e-02 9.34474422e+01] [ 3.22289669e-01 9.46229023e-01 -2.79285707e-02 2.00035304e+01] [ 8.44632096e-02 6.41647045e-04 9.96426392e-01 8.00759482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:93.50, Y:20.02, Z:8.02 [[ 9.39915242e-01 -3.31973701e-01 -7.97044481e-02 9.35025343e+01] [ 3.30794348e-01 9.43288638e-01 -2.79579233e-02 2.00185958e+01] [ 8.44655956e-02 -8.77026594e-05 9.96426392e-01 8.01606411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:20.03, Z:8.03 [[ 9.38236926e-01 -3.36688971e-01 -7.96994861e-02 9.35572924e+01] [ 3.35525370e-01 9.41615787e-01 -2.79720615e-02 2.00341281e+01] [ 8.44641789e-02 -4.96778610e-04 9.96426393e-01 8.02818071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:20.05, Z:8.04 [[ 9.36199118e-01 -3.42315269e-01 -7.96961015e-02 9.36119618e+01] [ 3.41171152e-01 9.39584626e-01 -2.79817013e-02 2.00537563e+01] [ 8.44597953e-02 -9.93566672e-04 9.96426393e-01 8.03610412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.67, Y:20.07, Z:8.04 [[ 9.37148536e-01 -3.39709730e-01 -7.96863955e-02 9.36653041e+01] [ 3.38553852e-01 9.40530046e-01 -2.80093148e-02 2.00732134e+01] [ 8.44624860e-02 -7.29247767e-04 9.96426393e-01 8.04401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:20.10, Z:8.05 [[ 9.42689926e-01 -3.24016929e-01 -7.96789347e-02 9.37177456e+01] [ 3.22802966e-01 9.46051021e-01 -2.80305230e-02 2.00994230e+01] [ 8.44627015e-02 7.03495224e-04 9.96426393e-01 8.04769070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:20.12, Z:8.05 [[ 9.47965491e-01 -3.08244160e-01 -7.96678509e-02 9.37719680e+01] [ 3.06971647e-01 9.51304858e-01 -2.80619897e-02 2.01223314e+01] [ 8.44383581e-02 2.14602644e-03 9.96426394e-01 8.04536366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:20.14, Z:8.05 [[ 9.47841398e-01 -3.08626434e-01 -7.96643462e-02 9.38267489e+01] [ 3.07354433e-01 9.51180960e-01 -2.80719358e-02 2.01398443e+01] [ 8.44389507e-02 2.12255296e-03 9.96426394e-01 8.04923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:20.15, Z:8.05 [[ 9.47153260e-01 -3.10732744e-01 -7.96609330e-02 9.38837558e+01] [ 3.09467356e-01 9.50495333e-01 -2.80816181e-02 2.01534329e+01] [ 8.44432233e-02 1.94513778e-03 9.96426394e-01 8.05267378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:20.16, Z:8.06 [[ 9.44700994e-01 -3.18113012e-01 -7.96501303e-02 9.39426013e+01] [ 3.16871157e-01 9.48051883e-01 -2.81122256e-02 2.01618673e+01] [ 8.44553207e-02 1.31881852e-03 9.96426394e-01 8.06028180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:20.18, Z:8.07 [[ 9.45000313e-01 -3.17225130e-01 -7.96405978e-02 9.39981128e+01] [ 3.15977854e-01 9.48349187e-01 -2.81392048e-02 2.01777443e+01] [ 8.44535591e-02 1.42689216e-03 9.96426395e-01 8.06860488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:20.19, Z:8.08 [[ 9.42774555e-01 -3.23780862e-01 -7.96372550e-02 9.40542981e+01] [ 3.22556076e-01 9.46131719e-01 -2.81486621e-02 2.01923663e+01] [ 8.44613311e-02 8.50361855e-04 9.96426395e-01 8.07924885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:20.21, Z:8.08 [[ 9.37119412e-01 -3.39803772e-01 -7.96279085e-02 9.41100329e+01] [ 3.38634144e-01 9.40496189e-01 -2.81750773e-02 2.02075229e+01] [ 8.44637420e-02 -5.61316769e-04 9.96426395e-01 8.08053893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:20.22, Z:8.09 [[ 9.33682142e-01 -3.49139729e-01 -7.96185051e-02 9.41657923e+01] [ 3.48001598e-01 9.37069664e-01 -2.82016250e-02 2.02236048e+01] [ 8.44543935e-02 -1.37601335e-03 9.96426396e-01 8.08898098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.22, Y:20.25, Z:8.10 [[ 9.35056070e-01 -3.45445409e-01 -7.96091409e-02 9.42189216e+01] [ 3.44291645e-01 9.38438299e-01 -2.82280340e-02 2.02480002e+01] [ 8.44595116e-02 -1.01396757e-03 9.96426396e-01 8.10381032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:20.27, Z:8.11 [[ 9.37640089e-01 -3.38370953e-01 -7.96000071e-02 9.42708072e+01] [ 3.37189484e-01 9.41012740e-01 -2.82537669e-02 2.02727469e+01] [ 8.44648749e-02 -3.48420750e-04 9.96426396e-01 8.11007233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:20.30, Z:8.11 [[ 9.41647712e-01 -3.27053408e-01 -7.95968235e-02 9.43224785e+01] [ 3.25830646e-01 9.45005613e-01 -2.82627331e-02 2.02994172e+01] [ 8.44628681e-02 6.78453570e-04 9.96426396e-01 8.11187278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:20.33, Z:8.11 [[ 9.44608985e-01 -3.18402026e-01 -7.95865269e-02 9.43761685e+01] [ 3.17146074e-01 9.47954612e-01 -2.82916983e-02 2.03251295e+01] [ 8.44525493e-02 1.48403789e-03 9.96426397e-01 8.11436760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:20.35, Z:8.11 [[ 9.46979757e-01 -3.11282563e-01 -7.95770502e-02 9.44290581e+01] [ 3.09999226e-01 9.50314975e-01 -2.83183289e-02 2.03512878e+01] [ 8.44382644e-02 2.14806021e-03 9.96426397e-01 8.11220151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:20.37, Z:8.11 [[ 9.48068358e-01 -3.07952359e-01 -7.95721821e-02 9.44845704e+01] [ 3.06656162e-01 9.51398600e-01 -2.83320012e-02 2.03727036e+01] [ 8.44297692e-02 2.45937391e-03 9.96426397e-01 8.11358253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:20.39, Z:8.12 [[ 9.46597770e-01 -3.12445628e-01 -7.95637556e-02 9.45393670e+01] [ 3.11163255e-01 9.49933359e-01 -2.83556454e-02 2.03909198e+01] [ 8.44398630e-02 2.08407351e-03 9.96426398e-01 8.12494283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:20.41, Z:8.14 [[ 9.43375588e-01 -3.22045895e-01 -7.95546394e-02 9.45952907e+01] [ 3.20795320e-01 9.46723228e-01 -2.83811989e-02 2.04076835e+01] [ 8.44562736e-02 1.25337427e-03 9.96426398e-01 8.13590123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:20.43, Z:8.14 [[ 9.40881457e-01 -3.29263685e-01 -7.95456485e-02 9.46512559e+01] [ 3.28036664e-01 9.44237801e-01 -2.84063759e-02 2.04257326e+01] [ 8.44631962e-02 6.33143218e-04 9.96426398e-01 8.14432204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:20.45, Z:8.15 [[ 9.39647920e-01 -3.32769726e-01 -7.95367620e-02 9.47047616e+01] [ 3.31553125e-01 9.43008054e-01 -2.84312362e-02 2.04478691e+01] [ 8.44648618e-02 3.44689942e-04 9.96426399e-01 8.15037047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:20.47, Z:8.15 [[ 9.39122600e-01 -3.34251763e-01 -7.95267312e-02 9.47590032e+01] [ 3.33038090e-01 9.42483793e-01 -2.84592663e-02 2.04694816e+01] [ 8.44652152e-02 2.41309548e-04 9.96426399e-01 8.15437637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:20.49, Z:8.17 [[ 9.41623233e-01 -3.27143323e-01 -7.95168666e-02 9.48123463e+01] [ 3.25901953e-01 9.44974296e-01 -2.84868020e-02 2.04904873e+01] [ 8.44606621e-02 9.09132501e-04 9.96426400e-01 8.16958136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:20.51, Z:8.17 [[ 9.44235020e-01 -3.19527452e-01 -7.95137336e-02 9.48656788e+01] [ 3.18258320e-01 9.47575667e-01 -2.84955442e-02 2.05135281e+01] [ 8.44503879e-02 1.60058350e-03 9.96426400e-01 8.17189696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:20.53, Z:8.17 [[ 9.45593000e-01 -3.15488518e-01 -7.95039212e-02 9.49215468e+01] [ 3.14202820e-01 9.48927306e-01 -2.85228952e-02 2.05301475e+01] [ 8.44420877e-02 1.99069376e-03 9.96426400e-01 8.17369837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:20.54, Z:8.17 [[ 9.47529583e-01 -3.09626158e-01 -7.94942265e-02 9.49797116e+01] [ 3.08317572e-01 9.50854972e-01 -2.85498893e-02 2.05444140e+01] [ 8.44272731e-02 2.54239776e-03 9.96426401e-01 8.16815645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:20.56, Z:8.17 [[ 9.49711338e-01 -3.02870503e-01 -7.94848007e-02 9.50363056e+01] [ 3.01536078e-01 9.53026442e-01 -2.85761073e-02 2.05568847e+01] [ 8.44059768e-02 3.17151800e-03 9.96426401e-01 8.17329627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:20.57, Z:8.18 [[ 9.52772015e-01 -2.93101410e-01 -7.94798762e-02 9.50946614e+01] [ 2.91731871e-01 9.56072769e-01 -2.85897974e-02 2.05653200e+01] [ 8.43682553e-02 4.05274585e-03 9.96426401e-01 8.18039667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:20.57, Z:8.19 [[ 9.54741109e-01 -2.86625262e-01 -7.94693293e-02 9.51539237e+01] [ 2.85230913e-01 9.58031458e-01 -2.86190843e-02 2.05725957e+01] [ 8.43370699e-02 4.65670692e-03 9.96426402e-01 8.18598216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:95.22, Y:20.57, Z:8.18 [[ 9.54478530e-01 -2.87501028e-01 -7.94600199e-02 9.52169080e+01] [ 2.86107555e-01 9.57769250e-01 -2.86449082e-02 2.05697881e+01] [ 8.43398042e-02 4.60683785e-03 9.96426402e-01 8.18340943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:20.57, Z:8.19 [[ 9.53624121e-01 -2.90323356e-01 -7.94568067e-02 9.52781219e+01] [ 2.88938884e-01 9.56918638e-01 -2.86538186e-02 2.05717967e+01] [ 8.43525720e-02 4.36681155e-03 9.96426402e-01 8.18955732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:20.57, Z:8.19 [[ 9.50865806e-01 -2.99236087e-01 -7.94479878e-02 9.53385495e+01] [ 2.97880473e-01 9.54172302e-01 -2.86782499e-02 2.05740864e+01] [ 8.43886366e-02 3.60316299e-03 9.96426402e-01 8.19433558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:20.58, Z:8.20 [[ 9.47242899e-01 -3.10516506e-01 -7.94379659e-02 9.53990646e+01] [ 3.09197964e-01 9.50564351e-01 -2.87059834e-02 2.05809023e+01] [ 8.44245802e-02 2.62948161e-03 9.96426403e-01 8.19795554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:20.59, Z:8.20 [[ 9.44722029e-01 -3.18105958e-01 -7.94285084e-02 9.54570985e+01] [ 3.16811909e-01 9.48053099e-01 -2.87321282e-02 2.05917152e+01] [ 8.44423048e-02 1.97997704e-03 9.96426403e-01 8.20365822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:20.60, Z:8.21 [[ 9.40850347e-01 -3.29383460e-01 -7.94176384e-02 9.55159257e+01] [ 3.28126815e-01 9.44195707e-01 -2.87621424e-02 2.05993110e+01] [ 8.44595672e-02 1.00181492e-03 9.96426404e-01 8.20891973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:20.62, Z:8.21 [[ 9.38200885e-01 -3.36856742e-01 -7.94143196e-02 9.55714055e+01] [ 3.35625971e-01 9.41555851e-01 -2.87713031e-02 2.06183042e+01] [ 8.44648247e-02 3.39753933e-04 9.96426404e-01 8.21318764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:20.63, Z:8.22 [[ 9.35867516e-01 -3.43288304e-01 -7.94048689e-02 9.56274591e+01] [ 3.42078378e-01 9.39230054e-01 -2.87973622e-02 2.06339143e+01] [ 8.44652370e-02 -2.12172916e-04 9.96426404e-01 8.22472926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35710568100001 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:20.65, Z:8.24 [[ 9.32843361e-01 -3.51425118e-01 -7.93955292e-02 9.56815080e+01] [ 3.50242331e-01 9.36215541e-01 -2.88230893e-02 2.06540237e+01] [ 8.44604859e-02 -9.20247665e-04 9.96426404e-01 8.23686196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:95.73, Y:20.68, Z:8.24 [[ 9.28027887e-01 -3.63953453e-01 -7.93859271e-02 9.57335721e+01] [ 3.62813918e-01 9.31414927e-01 -2.88495116e-02 2.06802605e+01] [ 8.44411169e-02 -2.02916796e-03 9.96426405e-01 8.23731349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:20.70, Z:8.24 [[ 9.24221338e-01 -3.73516420e-01 -7.93750678e-02 9.57874178e+01] [ 3.72409359e-01 9.27619131e-01 -2.88793586e-02 2.07032146e+01] [ 8.44167461e-02 -2.86909864e-03 9.96426405e-01 8.23871054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:20.73, Z:8.24 [[ 9.20300036e-01 -3.83078223e-01 -7.93657262e-02 9.58388341e+01] [ 3.82004241e-01 9.23708428e-01 -2.89050084e-02 2.07348861e+01] [ 8.43836695e-02 -3.71676367e-03 9.96426406e-01 8.23785696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:20.76, Z:8.25 [[ 9.18058495e-01 -3.88421458e-01 -7.93559791e-02 9.58910225e+01] [ 3.87365002e-01 9.21472359e-01 -2.89317434e-02 2.07619203e+01] [ 8.43620513e-02 -4.17869620e-03 9.96426406e-01 8.24755134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:20.79, Z:8.25 [[ 9.18552847e-01 -3.87252924e-01 -7.93463263e-02 9.59416427e+01] [ 3.86189846e-01 9.21964655e-01 -2.89581925e-02 2.07947855e+01] [ 8.43686531e-02 -4.04311535e-03 9.96426407e-01 8.25393675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:20.83, Z:8.25 [[ 9.23149298e-01 -3.76166258e-01 -7.93367515e-02 9.59890154e+01] [ 3.75059933e-01 9.26547328e-01 -2.89844009e-02 2.08342408e+01] [ 8.44122088e-02 -2.99910737e-03 9.96426407e-01 8.25057606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:20.87, Z:8.26 [[ 9.22130633e-01 -3.78657242e-01 -7.93334048e-02 9.60402491e+01] [ 3.77559308e-01 9.25531384e-01 -2.89935584e-02 2.08660400e+01] [ 8.44041768e-02 -3.21721701e-03 9.96426407e-01 8.25512811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837105681 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:20.90, Z:8.27 [[ 9.19583753e-01 -3.84802785e-01 -7.93255265e-02 9.60893302e+01] [ 3.83725716e-01 9.22991169e-01 -2.90150974e-02 2.08999359e+01] [ 8.43818507e-02 -3.75743236e-03 9.96426407e-01 8.26782151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:20.94, Z:8.28 [[ 9.19647753e-01 -3.84650241e-01 -7.93234114e-02 9.61389502e+01] [ 3.83572110e-01 9.23054833e-01 -2.90208786e-02 2.09352264e+01] [ 8.43827462e-02 -3.73726252e-03 9.96426407e-01 8.27691403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.18, Y:20.98, Z:8.29 [[ 9.22241323e-01 -3.78391588e-01 -7.93142418e-02 9.61832404e+01] [ 3.77288178e-01 9.25640300e-01 -2.90459175e-02 2.09785369e+01] [ 8.44071895e-02 -3.13698034e-03 9.96426408e-01 8.29199310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:21.02, Z:8.29 [[ 9.25468840e-01 -3.70428378e-01 -7.93110490e-02 9.62332589e+01] [ 3.69294966e-01 9.28857931e-01 -2.90546330e-02 2.10150741e+01] [ 8.44313575e-02 -2.40001363e-03 9.96426408e-01 8.28537425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:21.05, Z:8.30 [[ 9.30992409e-01 -3.56319088e-01 -7.93085227e-02 9.62801651e+01] [ 3.55133708e-01 9.34363675e-01 -2.90615273e-02 2.10535830e+01] [ 8.44581796e-02 -1.10906840e-03 9.96426408e-01 8.29705539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:21.09, Z:8.30 [[ 9.36660643e-01 -3.41141818e-01 -7.93038473e-02 9.63315578e+01] [ 3.39900725e-01 9.40011800e-01 -2.90742801e-02 2.10851453e+01] [ 8.44650050e-02 2.77298753e-04 9.96426408e-01 8.29905481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:21.11, Z:8.30 [[ 9.41040061e-01 -3.28870702e-01 -7.92947982e-02 9.63857597e+01] [ 3.27583839e-01 9.44373909e-01 -2.90989390e-02 2.11098348e+01] [ 8.44537270e-02 1.40757293e-03 9.96426408e-01 8.29691365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:96.44, Y:21.13, Z:8.30 [[ 9.42849654e-01 -3.23648586e-01 -7.92850749e-02 9.64392715e+01] [ 3.22341036e-01 9.46175442e-01 -2.91254077e-02 2.11316623e+01] [ 8.44439879e-02 1.90404743e-03 9.96426408e-01 8.29927952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317105681 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:21.15, Z:8.30 [[ 9.41543077e-01 -3.27432931e-01 -7.92736370e-02 9.64964232e+01] [ 3.26136131e-01 9.44873072e-01 -2.91565064e-02 2.11471052e+01] [ 8.44503253e-02 1.59810947e-03 9.96426409e-01 8.29906955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.55, Y:21.16, Z:8.31 [[ 9.39273393e-01 -3.33890242e-01 -7.92641138e-02 9.65527550e+01] [ 3.32614156e-01 9.42611379e-01 -2.91823732e-02 2.11621066e+01] [ 8.44589653e-02 1.04586046e-03 9.96426409e-01 8.31239050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.61, Y:21.17, Z:8.32 [[ 9.35701092e-01 -3.43776400e-01 -7.92543627e-02 9.66095261e+01] [ 3.42533342e-01 9.39051518e-01 -2.92088317e-02 2.11749486e+01] [ 8.44652366e-02 1.83473936e-04 9.96426410e-01 8.31681737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.67, Y:21.18, Z:8.32 [[ 9.29961867e-01 -3.59014600e-01 -7.92429347e-02 9.66684947e+01] [ 3.57823798e-01 9.33331219e-01 -2.92398027e-02 2.11832759e+01] [ 8.44574209e-02 -1.16310631e-03 9.96426410e-01 8.32008357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:21.20, Z:8.32 [[ 9.28537833e-01 -3.62682511e-01 -7.92394399e-02 9.67242364e+01] [ 3.61504209e-01 9.31911577e-01 -2.92492707e-02 2.12037521e+01] [ 8.44523503e-02 -1.48633664e-03 9.96426410e-01 8.32335121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.78, Y:21.22, Z:8.34 [[ 9.32265587e-01 -3.52992085e-01 -7.92304431e-02 9.67795805e+01] [ 3.51776639e-01 9.35626128e-01 -2.92736209e-02 2.12213972e+01] [ 8.44634292e-02 -5.80629619e-04 9.96426411e-01 8.34213253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:21.24, Z:8.34 [[ 9.35295077e-01 -3.44885487e-01 -7.92282705e-02 9.68321962e+01] [ 3.43640416e-01 9.38644755e-01 -2.92794997e-02 2.12433788e+01] [ 8.44652751e-02 1.58936146e-04 9.96426411e-01 8.34315351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:21.26, Z:8.34 [[ 9.37624574e-01 -3.38502313e-01 -7.92233675e-02 9.68889092e+01] [ 3.37233318e-01 9.40965262e-01 -2.92927603e-02 2.12602885e+01] [ 8.44621038e-02 7.48852876e-04 9.96426411e-01 8.34198251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.94, Y:21.28, Z:8.33 [[ 9.39713887e-01 -3.32660560e-01 -7.92133953e-02 9.69439306e+01] [ 3.31368529e-01 9.43045732e-01 -2.93197023e-02 2.12814989e+01] [ 8.44553630e-02 1.30330514e-03 9.96426411e-01 8.33374163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85710568100001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:21.30, Z:8.34 [[ 9.38210135e-01 -3.36879104e-01 -7.92099192e-02 9.69985693e+01] [ 3.35601262e-01 9.41547448e-01 -2.93290904e-02 2.13015357e+01] [ 8.44602550e-02 9.33901038e-04 9.96426411e-01 8.34495412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:21.32, Z:8.35 [[ 9.34052078e-01 -3.48244087e-01 -7.92008293e-02 9.70541991e+01] [ 3.47004775e-01 9.37403889e-01 -2.93536165e-02 2.13196103e+01] [ 8.44653888e-02 -6.52593978e-05 9.96426412e-01 8.35416585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:21.34, Z:8.37 [[ 9.27246272e-01 -3.65982377e-01 -7.91912331e-02 9.71093063e+01] [ 3.64804962e-01 9.30620323e-01 -2.93794827e-02 2.13385389e+01] [ 8.44493439e-02 -1.64733902e-03 9.96426412e-01 8.37014200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.16, Y:21.36, Z:8.38 [[ 9.25769563e-01 -3.69702315e-01 -7.91891021e-02 9.71626208e+01] [ 3.68537965e-01 9.29148146e-01 -2.93852255e-02 2.13595594e+01] [ 8.44421933e-02 -1.98024320e-03 9.96426412e-01 8.37559632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:21.38, Z:8.38 [[ 9.22316338e-01 -3.78237230e-01 -7.91780969e-02 9.72155753e+01] [ 3.77101595e-01 9.25704680e-01 -2.94148491e-02 2.13806720e+01] [ 8.44213259e-02 -2.72839071e-03 9.96426413e-01 8.37807760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:21.41, Z:8.38 [[ 9.21793988e-01 -3.79509441e-01 -7.91733995e-02 9.72658752e+01] [ 3.78377398e-01 9.25183532e-01 -2.94274873e-02 2.14103658e+01] [ 8.44179346e-02 -2.83134405e-03 9.96426413e-01 8.38323428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:21.45, Z:8.39 [[ 9.25678301e-01 -3.69936319e-01 -7.91631413e-02 9.73154467e+01] [ 3.68766853e-01 9.29055115e-01 -2.94550572e-02 2.14452265e+01] [ 8.44434168e-02 -1.92683521e-03 9.96426413e-01 8.39022232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.37, Y:21.48, Z:8.39 [[ 9.30738398e-01 -3.57016639e-01 -7.91527286e-02 9.73660898e+01] [ 3.55797910e-01 9.34097746e-01 -2.94830122e-02 2.14759091e+01] [ 8.44623113e-02 -7.21403863e-04 9.96426414e-01 8.39113266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:21.50, Z:8.39 [[ 9.33001643e-01 -3.51060334e-01 -7.91490763e-02 9.74186895e+01] [ 3.49819326e-01 9.36352825e-01 -2.94928137e-02 2.15043054e+01] [ 8.44652182e-02 -1.71032942e-04 9.96426414e-01 8.38939550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.47, Y:21.53, Z:8.38 [[ 9.36063525e-01 -3.42814924e-01 -7.91391495e-02 9.74740754e+01] [ 3.41542147e-01 9.39402770e-01 -2.95194269e-02 2.15274277e+01] [ 8.44632363e-02 6.02703768e-04 9.96426414e-01 8.38495749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:21.55, Z:8.39 [[ 9.39577802e-01 -3.33064574e-01 -7.91299110e-02 9.75279438e+01] [ 3.31755067e-01 9.42902815e-01 -2.95441709e-02 2.15510171e+01] [ 8.44519325e-02 1.50729832e-03 9.96426414e-01 8.38930927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:21.57, Z:8.40 [[ 9.42493863e-01 -3.24723497e-01 -7.91199638e-02 9.75836149e+01] [ 3.23382337e-01 9.45806234e-01 -2.95707858e-02 2.15677193e+01] [ 8.44344840e-02 2.28428526e-03 9.96426415e-01 8.40199054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:21.58, Z:8.40 [[ 9.41850097e-01 -3.26588499e-01 -7.91097202e-02 9.76403260e+01] [ 3.25251600e-01 9.45164190e-01 -2.95981649e-02 2.15831873e+01] [ 8.44380948e-02 2.14647139e-03 9.96426415e-01 8.40260845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.70, Y:21.59, Z:8.42 [[ 9.35764800e-01 -3.43638408e-01 -7.91004689e-02 9.76989759e+01] [ 3.42359825e-01 9.39101824e-01 -2.96228685e-02 2.15929139e+01] [ 8.44629500e-02 6.39214909e-04 9.96426415e-01 8.42043439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:21.60, Z:8.42 [[ 9.32840758e-01 -3.51498894e-01 -7.90989705e-02 9.77589585e+01] [ 3.50248092e-01 9.36188294e-01 -2.96268689e-02 2.15988764e+01] [ 8.44653419e-02 -6.71126464e-05 9.96426416e-01 8.41958401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.82, Y:21.61, Z:8.42 [[ 9.36797155e-01 -3.40815218e-01 -7.90953637e-02 9.78163678e+01] [ 3.39525429e-01 9.40129864e-01 -2.96364948e-02 2.16117232e+01] [ 8.44604820e-02 9.08496712e-04 9.96426416e-01 8.42153995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.88, Y:21.62, Z:8.43 [[ 9.40259845e-01 -3.31143351e-01 -7.90917584e-02 9.78761999e+01] [ 3.29818477e-01 9.43578762e-01 -2.96461134e-02 2.16207978e+01] [ 8.44464168e-02 1.78912667e-03 9.96426416e-01 8.42500735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:21.63, Z:8.43 [[ 9.40999518e-01 -3.29036830e-01 -7.90864862e-02 9.79330440e+01] [ 3.27703346e-01 9.44314985e-01 -2.96601714e-02 2.16337171e+01] [ 8.44418428e-02 1.99330083e-03 9.96426416e-01 8.43147194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:21.65, Z:8.44 [[ 9.39116983e-01 -3.34372783e-01 -7.90830798e-02 9.79904660e+01] [ 3.33057375e-01 9.42439664e-01 -2.96692509e-02 2.16468682e+01] [ 8.44516212e-02 1.52369446e-03 9.96426416e-01 8.43959532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:21.66, Z:8.44 [[ 9.32010786e-01 -3.53699386e-01 -7.90736325e-02 9.80469044e+01] [ 3.52450756e-01 9.35359132e-01 -2.96944084e-02 2.16599016e+01] [ 8.44651383e-02 -1.94052622e-04 9.96426416e-01 8.44140170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:21.68, Z:8.44 [[ 9.28142183e-01 -3.63730630e-01 -7.90703280e-02 9.81040229e+01] [ 3.62517436e-01 9.31503531e-01 -2.97032050e-02 2.16768799e+01] [ 8.44582552e-02 -1.09557502e-03 9.96426416e-01 8.44108757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117105681 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:21.70, Z:8.45 [[ 9.26397413e-01 -3.68153711e-01 -7.90612271e-02 9.81588166e+01] [ 3.66954499e-01 9.29763775e-01 -2.97274093e-02 2.16963157e+01] [ 8.44525210e-02 -1.47247782e-03 9.96426417e-01 8.45181646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:21.72, Z:8.46 [[ 9.30223046e-01 -3.58379463e-01 -7.90521666e-02 9.82136906e+01] [ 3.57142828e-01 9.33575840e-01 -2.97514840e-02 2.17162771e+01] [ 8.44635137e-02 -5.57398193e-04 9.96426417e-01 8.45622413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:21.74, Z:8.46 [[ 9.37911750e-01 -3.37748012e-01 -7.90432173e-02 9.82691781e+01] [ 3.36435630e-01 9.41235625e-01 -2.97752413e-02 2.17354171e+01] [ 8.44548206e-02 1.33359401e-03 9.96426417e-01 8.46429200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:21.75, Z:8.46 [[ 9.38836177e-01 -3.35172123e-01 -7.90334138e-02 9.83278453e+01] [ 3.33848433e-01 9.42155565e-01 -2.98012406e-02 2.17490263e+01] [ 8.44503157e-02 1.59330138e-03 9.96426418e-01 8.45769067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:21.76, Z:8.47 [[ 9.39343118e-01 -3.33749071e-01 -7.90320443e-02 9.83864433e+01] [ 3.32420048e-01 9.42660374e-01 -2.98048719e-02 2.17619020e+01] [ 8.44477248e-02 1.72516534e-03 9.96426418e-01 8.46734698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:21.78, Z:8.47 [[ 9.42815598e-01 -3.23810003e-01 -7.90305613e-02 9.84441917e+01] [ 3.22445691e-01 9.46118498e-01 -2.98088036e-02 2.17764740e+01] [ 8.44246648e-02 2.62114110e-03 9.96426418e-01 8.47052418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:21.79, Z:8.48 [[ 9.46974725e-01 -3.11439551e-01 -7.90207291e-02 9.84991725e+01] [ 3.10029948e-01 9.50258551e-01 -2.98348454e-02 2.17943489e+01] [ 8.43818744e-02 3.75405196e-03 9.96426418e-01 8.47579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537105681 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:21.81, Z:8.48 [[ 9.48643435e-01 -3.06321893e-01 -7.90096846e-02 9.85573953e+01] [ 3.04892153e-01 9.51918543e-01 -2.98640653e-02 2.18068936e+01] [ 8.43588009e-02 4.24091663e-03 9.96426418e-01 8.48286305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:21.82, Z:8.49 [[ 9.48212037e-01 -3.07657166e-01 -7.90000078e-02 9.86159314e+01] [ 3.06229913e-01 9.51488229e-01 -2.98896419e-02 2.18156243e+01] [ 8.43633400e-02 4.14955268e-03 9.96426419e-01 8.48673543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:98.68, Y:21.82, Z:8.49 [[ 9.48377018e-01 -3.07149527e-01 -7.89949398e-02 9.86758079e+01] [ 3.05719408e-01 9.51651960e-01 -2.99030300e-02 2.18221710e+01] [ 8.43603908e-02 4.20906015e-03 9.96426419e-01 8.49171081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:21.83, Z:8.50 [[ 9.50099753e-01 -3.01781073e-01 -7.89850825e-02 9.87358094e+01] [ 3.00330301e-01 9.53365598e-01 -2.99290442e-02 2.18253702e+01] [ 8.43336795e-02 4.71396389e-03 9.96426419e-01 8.49885722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:21.83, Z:8.51 [[ 9.49825355e-01 -3.02644503e-01 -7.89816472e-02 9.87952630e+01] [ 3.01195949e-01 9.53092183e-01 -2.99381072e-02 2.18321495e+01] [ 8.43373941e-02 4.64702115e-03 9.96426419e-01 8.50674858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:21.84, Z:8.51 [[ 9.48902961e-01 -3.05526747e-01 -7.89720059e-02 9.88555505e+01] [ 3.04086010e-01 9.52173244e-01 -2.99635180e-02 2.18372794e+01] [ 8.43496872e-02 4.41818881e-03 9.96426420e-01 8.51128660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:98.91, Y:21.85, Z:8.52 [[ 9.48307718e-01 -3.07370611e-01 -7.89669543e-02 9.89124175e+01] [ 3.05935128e-01 9.51580311e-01 -2.99768251e-02 2.18517699e+01] [ 8.43573940e-02 4.26848937e-03 9.96426420e-01 8.51639836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:98.97, Y:21.86, Z:8.52 [[ 9.46768003e-01 -3.12083903e-01 -7.89555935e-02 9.89711174e+01] [ 3.10662229e-01 9.50046618e-01 -3.00067185e-02 2.18602839e+01] [ 8.43761084e-02 3.88088026e-03 9.96426420e-01 8.51851594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:21.87, Z:8.53 [[ 9.45343715e-01 -3.16372923e-01 -7.89521047e-02 9.90301000e+01] [ 3.14965362e-01 9.48628413e-01 -3.00158953e-02 2.18669034e+01] [ 8.43924263e-02 3.50815973e-03 9.96426420e-01 8.52516476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:99.09, Y:21.88, Z:8.53 [[ 9.44365221e-01 -3.19284442e-01 -7.89415940e-02 9.90877715e+01] [ 3.17884705e-01 9.47653260e-01 -3.00435131e-02 2.18809301e+01] [ 8.44016852e-02 3.27772358e-03 9.96426421e-01 8.52991832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:99.15, Y:21.89, Z:8.54 [[ 9.40907099e-01 -3.29338066e-01 -7.89320524e-02 9.91454105e+01] [ 3.27971377e-01 9.44209012e-01 -3.00685604e-02 2.18920518e+01] [ 8.44310768e-02 2.40426809e-03 9.96426421e-01 8.53833318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.20, Y:21.90, Z:8.55 [[ 9.35215652e-01 -3.45171155e-01 -7.89212114e-02 9.92030133e+01] [ 3.43857989e-01 9.38539213e-01 -3.00969882e-02 2.19047314e+01] [ 8.44592638e-02 1.00948542e-03 9.96426422e-01 8.54631174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.26, Y:21.92, Z:8.56 [[ 9.30185874e-01 -3.58507009e-01 -7.89111122e-02 9.92571797e+01] [ 3.57239251e-01 9.33527019e-01 -3.01234440e-02 2.19222135e+01] [ 8.44651212e-02 -1.69744521e-04 9.96426422e-01 8.55850550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:21.94, Z:8.57 [[ 9.25860922e-01 -3.69533672e-01 -7.89076546e-02 9.93103668e+01] [ 3.68304930e-01 9.29216612e-01 -3.01324986e-02 2.19435114e+01] [ 8.44572763e-02 -1.16357528e-03 9.96426422e-01 8.56834409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:99.36, Y:21.97, Z:8.57 [[ 9.25840227e-01 -3.69588023e-01 -7.88959214e-02 9.93620459e+01] [ 3.68356863e-01 9.29195030e-01 -3.01631885e-02 2.19719080e+01] [ 8.44576512e-02 -1.13556082e-03 9.96426423e-01 8.56939573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:22.00, Z:8.57 [[ 9.27213002e-01 -3.66132978e-01 -7.88840361e-02 9.94163975e+01] [ 3.64886674e-01 9.30562208e-01 -3.01942396e-02 2.19971930e+01] [ 8.44616096e-02 -7.87241973e-04 9.96426423e-01 8.56727494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:22.03, Z:8.57 [[ 9.27612821e-01 -3.65120053e-01 -7.88783962e-02 9.94679277e+01] [ 3.63868840e-01 9.30960196e-01 -3.02089658e-02 2.20265072e+01] [ 8.44625464e-02 -6.79166504e-04 9.96426423e-01 8.56507703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:22.05, Z:8.57 [[ 9.27033793e-01 -3.66588489e-01 -7.88747550e-02 9.95201530e+01] [ 3.65341770e-01 9.30382843e-01 -3.02184701e-02 2.20514848e+01] [ 8.44614621e-02 -8.02699663e-04 9.96426423e-01 8.56823172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:22.08, Z:8.58 [[ 9.22665139e-01 -3.77449819e-01 -7.88712558e-02 9.95714491e+01] [ 3.76241735e-01 9.26028320e-01 -3.02276002e-02 2.20792594e+01] [ 8.44464187e-02 -1.78470522e-03 9.96426423e-01 8.57896142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:99.62, Y:22.11, Z:8.58 [[ 9.14153887e-01 -3.97622430e-01 -7.88611035e-02 9.96235498e+01] [ 3.96486221e-01 9.17542025e-01 -3.02540635e-02 2.21096491e+01] [ 8.43880709e-02 -3.61047120e-03 9.96426424e-01 8.57959829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:99.67, Y:22.14, Z:8.59 [[ 9.11001340e-01 -4.04794944e-01 -7.88518340e-02 9.96725063e+01] [ 4.03683316e-01 9.14397622e-01 -3.02782038e-02 2.21427783e+01] [ 8.43583933e-02 -4.24768564e-03 9.96426424e-01 8.58556651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797105681 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:22.18, Z:8.59 [[ 9.12462468e-01 -4.01492849e-01 -7.88399379e-02 9.97204459e+01] [ 4.00366261e-01 9.15853816e-01 -3.03091478e-02 2.21802827e+01] [ 8.43747641e-02 -3.90889136e-03 9.96426425e-01 8.59232484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:22.22, Z:8.60 [[ 9.14402427e-01 -3.97056825e-01 -7.88294256e-02 9.97660764e+01] [ 3.95911430e-01 9.17787469e-01 -3.03364643e-02 2.22246927e+01] [ 8.43939592e-02 -3.46973398e-03 9.96426425e-01 8.60417614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:22.27, Z:8.60 [[ 9.12700505e-01 -4.00955533e-01 -7.88190953e-02 9.98132552e+01] [ 3.99822284e-01 9.16089631e-01 -3.03632804e-02 2.22669943e+01] [ 8.43796812e-02 -3.80104936e-03 9.96426425e-01 8.60345079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:99.86, Y:22.30, Z:8.61 [[ 9.09554650e-01 -4.08043544e-01 -7.88086658e-02 9.98601427e+01] [ 4.06934358e-01 9.12951727e-01 -3.03903265e-02 2.23049829e+01] [ 8.43490841e-02 -4.42829104e-03 9.96426426e-01 8.60927762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:99.90, Y:22.35, Z:8.61 [[ 9.07995317e-01 -4.11504027e-01 -7.87968283e-02 9.99046885e+01] [ 4.10405133e-01 9.11395738e-01 -3.04209883e-02 2.23527993e+01] [ 8.43334526e-02 -4.71650791e-03 9.96426426e-01 8.61168089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:22.39, Z:8.61 [[ 9.07068986e-01 -4.13543883e-01 -7.87864885e-02 9.99511253e+01] [ 4.12450320e-01 9.10471125e-01 -3.04477437e-02 2.23937854e+01] [ 8.43243009e-02 -4.87730834e-03 9.96426427e-01 8.61067937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157105681 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:22.43, Z:8.61 [[ 9.04479897e-01 -4.19177023e-01 -7.87828604e-02 9.99984405e+01] [ 4.18103826e-01 9.07888514e-01 -3.04571282e-02 2.24348279e+01] [ 8.42929825e-02 -5.39155514e-03 9.96426427e-01 8.61185544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217105681 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:100.04, Y:22.48, Z:8.62 [[ 9.03481627e-01 -4.21326178e-01 -7.87730962e-02 1.00042515e+02] [ 4.20258898e-01 9.06892102e-01 -3.04823613e-02 2.24845279e+01] [ 8.42817155e-02 -5.56484125e-03 9.96426427e-01 8.62232514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:100.09, Y:22.53, Z:8.63 [[ 9.02786691e-01 -4.22813471e-01 -7.87715619e-02 1.00087404e+02] [ 4.21751465e-01 9.06198811e-01 -3.04863256e-02 2.25279381e+01] [ 8.42727249e-02 -5.69937268e-03 9.96426427e-01 8.63393381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:100.13, Y:22.57, Z:8.64 [[ 9.02324632e-01 -4.23799232e-01 -7.87684570e-02 1.00133717e+02] [ 4.22740256e-01 9.05737694e-01 -3.04943456e-02 2.25699189e+01] [ 8.42670409e-02 -5.78279850e-03 9.96426427e-01 8.63715580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:22.61, Z:8.64 [[ 9.02315829e-01 -4.23819901e-01 -7.87580891e-02 1.00180493e+02] [ 4.22758681e-01 9.05728193e-01 -3.05210996e-02 2.26121838e+01] [ 8.42688712e-02 -5.75599457e-03 9.96426428e-01 8.64128099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:22.66, Z:8.65 [[ 9.00091208e-01 -4.28526110e-01 -7.87476445e-02 1.00223141e+02] [ 4.27480383e-01 9.03508351e-01 -3.05480243e-02 2.26635942e+01] [ 8.42397804e-02 -6.16706511e-03 9.96426428e-01 8.64962401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:100.27, Y:22.70, Z:8.65 [[ 8.96278609e-01 -4.36445948e-01 -7.87374745e-02 1.00271597e+02] [ 4.35428109e-01 8.99704162e-01 -3.05742151e-02 2.27012490e+01] [ 8.41844258e-02 -6.88149465e-03 9.96426429e-01 8.64981897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:22.75, Z:8.65 [[ 8.92130680e-01 -4.44864993e-01 -7.87272988e-02 1.00316539e+02] [ 4.43877161e-01 8.95565007e-01 -3.06003947e-02 2.27454416e+01] [ 8.41184582e-02 -7.64569899e-03 9.96426429e-01 8.65419638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:22.79, Z:8.65 [[ 8.91001509e-01 -4.47123225e-01 -7.87218738e-02 1.00361144e+02] [ 4.46142875e-01 8.94437978e-01 -3.06143445e-02 2.27932667e+01] [ 8.41002181e-02 -7.84377600e-03 9.96426429e-01 8.65254088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:22.83, Z:8.65 [[ 8.92099607e-01 -4.44929957e-01 -7.87122864e-02 1.00409574e+02] [ 4.43939003e-01 8.95533034e-01 -3.06389750e-02 2.28320042e+01] [ 8.41216504e-02 -7.61043639e-03 9.96426429e-01 8.65180136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:100.46, Y:22.87, Z:8.66 [[ 8.93023348e-01 -4.43074878e-01 -7.87016712e-02 1.00456969e+02] [ 4.42074411e-01 8.96454014e-01 -3.06662177e-02 2.28728325e+01] [ 8.41398597e-02 -7.40634658e-03 9.96426430e-01 8.65772646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:22.91, Z:8.67 [[ 8.94813669e-01 -4.39448265e-01 -7.87001939e-02 1.00505379e+02] [ 4.38433557e-01 8.98240150e-01 -3.06700087e-02 2.29073867e+01] [ 8.41695560e-02 -7.06086288e-03 9.96426430e-01 8.66841182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:22.95, Z:8.68 [[ 9.00123922e-01 -4.28466745e-01 -7.86967239e-02 1.00552592e+02] [ 4.27409414e-01 9.03537491e-01 -3.06789098e-02 2.29453236e+01] [ 8.42503331e-02 -6.02090000e-03 9.96426430e-01 8.67980511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937105681 meters Centerline goodness : 0.998172 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:23.00, Z:8.68 [[ 9.11434281e-01 -4.03851348e-01 -7.86869835e-02 1.00595309e+02] [ 4.02699507e-01 9.14817129e-01 -3.07038723e-02 2.29950964e+01] [ 8.43840005e-02 -3.70264772e-03 9.96426430e-01 8.68194289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:100.64, Y:23.03, Z:8.68 [[ 9.18860725e-01 -3.86658888e-01 -7.86757401e-02 1.00642799e+02] [ 3.85441241e-01 9.22220447e-01 -3.07326556e-02 2.30314264e+01] [ 8.44394306e-02 -2.08584470e-03 9.96426431e-01 8.68138992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057105681 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:23.06, Z:8.68 [[ 9.19082359e-01 -3.86134050e-01 -7.86645569e-02 1.00693710e+02] [ 3.84912038e-01 9.22440496e-01 -3.07612539e-02 2.30647554e+01] [ 8.44413404e-02 -2.00680913e-03 9.96426431e-01 8.67694834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117105681 meters Centerline goodness : 0.998058 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:23.09, Z:8.69 [[ 9.16414159e-01 -3.92426477e-01 -7.86546160e-02 1.00747709e+02] [ 3.91225341e-01 9.19779819e-01 -3.07866514e-02 2.30869850e+01] [ 8.44264256e-02 -2.55835570e-03 9.96426432e-01 8.68561994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177105681 meters Centerline goodness : 0.998059 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:23.10, Z:8.69 [[ 9.13339855e-01 -3.99531204e-01 -7.86455752e-02 1.00803104e+02] [ 3.98354257e-01 9.16714048e-01 -3.08097292e-02 2.31041342e+01] [ 8.44049518e-02 -3.18904608e-03 9.96426432e-01 8.69425744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237105681 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:23.12, Z:8.70 [[ 9.12788473e-01 -4.00791315e-01 -7.86353919e-02 1.00859841e+02] [ 3.99616792e-01 9.16163511e-01 -3.08356981e-02 2.31208104e+01] [ 8.44015568e-02 -3.27755325e-03 9.96426432e-01 8.69569337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297105681 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:23.14, Z:8.70 [[ 9.18487564e-01 -3.87554699e-01 -7.86253741e-02 1.00916469e+02] [ 3.86329328e-01 9.21844475e-01 -3.08612206e-02 2.31356374e+01] [ 8.44407778e-02 -2.02964054e-03 9.96426433e-01 8.70197555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:23.15, Z:8.71 [[ 9.20928463e-01 -3.81720279e-01 -7.86154877e-02 1.00971562e+02] [ 3.80471489e-01 9.24276732e-01 -3.08863846e-02 2.31520463e+01] [ 8.44524254e-02 -1.46680098e-03 9.96426433e-01 8.70517657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417105681 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:23.16, Z:8.71 [[ 9.21057915e-01 -3.81408891e-01 -7.86102807e-02 1.01030485e+02] [ 3.80157839e-01 9.24405339e-01 -3.08996316e-02 2.31630650e+01] [ 8.44531574e-02 -1.42396415e-03 9.96426433e-01 8.70515236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477105681 meters Centerline goodness : 0.998587 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:23.17, Z:8.72 [[ 9.22732883e-01 -3.77340621e-01 -7.86007819e-02 1.01088829e+02] [ 3.76072753e-01 9.26073974e-01 -3.09237754e-02 2.31741142e+01] [ 8.44589350e-02 -1.02522804e-03 9.96426433e-01 8.71726536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537105681 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:23.18, Z:8.72 [[ 9.25666469e-01 -3.70087916e-01 -7.85908582e-02 1.01146789e+02] [ 3.68791729e-01 9.28996675e-01 -3.09489753e-02 2.31844035e+01] [ 8.44644877e-02 -3.35229775e-04 9.96426434e-01 8.72381063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:23.19, Z:8.73 [[ 9.28612028e-01 -3.62636177e-01 -7.85792832e-02 1.01206235e+02] [ 3.61310781e-01 9.31930717e-01 -3.09783366e-02 2.31909679e+01] [ 8.44643133e-02 3.75313826e-04 9.96426434e-01 8.73316206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:23.20, Z:8.74 [[ 9.27773251e-01 -3.64777579e-01 -7.85755146e-02 1.01266032e+02] [ 3.63459034e-01 9.31094668e-01 -3.09878924e-02 2.31991342e+01] [ 8.44649311e-02 1.90757072e-04 9.96426434e-01 8.73543805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:23.21, Z:8.74 [[ 9.22849408e-01 -3.77063020e-01 -7.85649400e-02 1.01324799e+02] [ 3.75786407e-01 9.26187166e-01 -3.10146798e-02 2.32064236e+01] [ 8.44603279e-02 -9.01757651e-04 9.96426435e-01 8.73808786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:23.22, Z:8.74 [[ 9.14478901e-01 -3.96933836e-01 -7.85612423e-02 1.01384137e+02] [ 3.95728907e-01 9.17843201e-01 -3.10240431e-02 2.32152096e+01] [ 8.44213946e-02 -2.71812166e-03 9.96426435e-01 8.74063927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:23.22, Z:8.75 [[ 9.03033930e-01 -4.22326287e-01 -7.85508038e-02 1.01442914e+02] [ 4.21213527e-01 9.06429829e-01 -3.10504505e-02 2.32234778e+01] [ 8.43142131e-02 -5.04705076e-03 9.96426435e-01 8.75414056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:23.24, Z:8.77 [[ 9.01269850e-01 -4.26079838e-01 -7.85406172e-02 1.01495534e+02] [ 4.24978983e-01 9.04669627e-01 -3.10761956e-02 2.32442347e+01] [ 8.42942513e-02 -5.37007350e-03 9.96426436e-01 8.76628104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.55, Y:23.27, Z:8.77 [[ 9.03942398e-01 -4.20380858e-01 -7.85370934e-02 1.01548618e+02] [ 4.19257789e-01 9.07334901e-01 -3.10850987e-02 2.32682029e+01] [ 8.43270263e-02 -4.82814943e-03 9.96426436e-01 8.76784034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:23.30, Z:8.77 [[ 9.02717590e-01 -4.23006676e-01 -7.85258283e-02 1.01601170e+02] [ 4.21891009e-01 9.06112534e-01 -3.11135302e-02 2.32960438e+01] [ 8.43144682e-02 -5.04260992e-03 9.96426436e-01 8.76571258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:23.32, Z:8.77 [[ 9.00798062e-01 -4.27080914e-01 -7.85158842e-02 1.01653569e+02] [ 4.25978423e-01 9.04197307e-01 -3.11386042e-02 2.33241099e+01] [ 8.42925547e-02 -5.39647817e-03 9.96426436e-01 8.76965491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:23.35, Z:8.78 [[ 8.97632896e-01 -4.33695757e-01 -7.85058800e-02 1.01704705e+02] [ 4.32616110e-01 9.01039466e-01 -3.11638063e-02 2.33536607e+01] [ 8.42525067e-02 -5.98925066e-03 9.96426437e-01 8.77839341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:101.75, Y:23.39, Z:8.78 [[ 8.96060986e-01 -4.36936056e-01 -7.84958149e-02 1.01753928e+02] [ 4.35866518e-01 8.99470742e-01 -3.11891378e-02 2.33869402e+01] [ 8.42323478e-02 -6.26632795e-03 9.96426437e-01 8.77635270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:101.80, Y:23.42, Z:8.78 [[ 8.95882258e-01 -4.37303315e-01 -7.84907086e-02 1.01801860e+02] [ 4.36234056e-01 8.99292102e-01 -3.12019832e-02 2.34239995e+01] [ 8.42308050e-02 -6.28701706e-03 9.96426437e-01 8.77939459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:23.46, Z:8.78 [[ 8.97143371e-01 -4.34712184e-01 -7.84798652e-02 1.01851561e+02] [ 4.33630705e-01 9.00549358e-01 -3.12292331e-02 2.34550977e+01] [ 8.42507203e-02 -6.01417985e-03 9.96426438e-01 8.78316384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:23.49, Z:8.79 [[ 8.99600845e-01 -4.29605519e-01 -7.84692171e-02 1.01900598e+02] [ 4.28502376e-01 9.02999877e-01 -3.12559655e-02 2.34896605e+01] [ 8.42854287e-02 -5.50635296e-03 9.96426438e-01 8.79337395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437105681 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:23.52, Z:8.80 [[ 9.07555576e-01 -4.12537142e-01 -7.84600774e-02 1.01950281e+02] [ 4.11368017e-01 9.10932481e-01 -3.12788917e-02 2.35235646e+01] [ 8.43755375e-02 -3.88863393e-03 9.96426438e-01 8.80110144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters Centerline goodness : 0.998488 with order 1 Centerline is valid? [True, True] Translation: X:102.00, Y:23.56, Z:8.81 [[ 9.17075268e-01 -3.90920240e-01 -7.84494626e-02 1.01998083e+02] [ 3.89669167e-01 9.20422678e-01 -3.13054917e-02 2.35556824e+01] [ 8.44446148e-02 -1.85984456e-03 9.96426439e-01 8.80620440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557105681 meters Centerline goodness : 0.998366 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:23.59, Z:8.81 [[ 9.27028968e-01 -3.66693045e-01 -7.84442648e-02 1.02048291e+02] [ 3.65353362e-01 9.30341911e-01 -3.13185107e-02 2.35891999e+01] [ 8.44642673e-02 3.73290763e-04 9.96426439e-01 8.80705019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617105681 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:23.61, Z:8.80 [[ 9.29425104e-01 -3.60578850e-01 -7.84338512e-02 1.02105697e+02] [ 3.59215176e-01 9.32728243e-01 -3.13445690e-02 2.36057441e+01] [ 8.44596569e-02 9.57799604e-04 9.96426439e-01 8.80367761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677105681 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:23.62, Z:8.81 [[ 9.27879521e-01 -3.64539955e-01 -7.84233146e-02 1.02163896e+02] [ 3.63188157e-01 9.31187537e-01 -3.13709092e-02 2.36183300e+01] [ 8.44627630e-02 6.26005157e-04 9.96426440e-01 8.81086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737105681 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:23.63, Z:8.82 [[ 9.26490928e-01 -3.68057059e-01 -7.84127691e-02 1.02220306e+02] [ 3.66715589e-01 9.29803146e-01 -3.13972460e-02 2.36337318e+01] [ 8.44644174e-02 3.34078702e-04 9.96426440e-01 8.81579301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797105681 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:23.64, Z:8.83 [[ 9.24101276e-01 -3.74018918e-01 -7.84007664e-02 1.02281159e+02] [ 3.72696277e-01 9.27421057e-01 -3.14271891e-02 2.36390709e+01] [ 8.44648849e-02 -1.77768170e-04 9.96426441e-01 8.82622094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:23.65, Z:8.83 [[ 9.20373902e-01 -3.83101594e-01 -7.83903636e-02 1.02340242e+02] [ 3.81809503e-01 9.23705692e-01 -3.14531160e-02 2.36474647e+01] [ 8.44593639e-02 -9.81558655e-04 9.96426441e-01 8.83133294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917105681 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:23.65, Z:8.83 [[ 9.17096683e-01 -3.90884193e-01 -7.83787094e-02 1.02402426e+02] [ 3.89617893e-01 9.20438359e-01 -3.14821306e-02 2.36514978e+01] [ 8.44486379e-02 -1.66559003e-03 9.96426442e-01 8.83203251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:23.66, Z:8.84 [[ 9.20487339e-01 -3.82833483e-01 -7.83682572e-02 1.02462029e+02] [ 3.81535737e-01 9.23816929e-01 -3.15081279e-02 2.36609803e+01] [ 8.44602891e-02 -8.97457944e-04 9.96426442e-01 8.83928729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:23.68, Z:8.85 [[ 9.27614540e-01 -3.65227807e-01 -7.83575974e-02 1.02517658e+02] [ 3.63864628e-01 9.30917881e-01 -3.15346156e-02 2.36764447e+01] [ 8.44618070e-02 7.40409954e-04 9.96426442e-01 8.85081468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:23.69, Z:8.87 [[ 9.31284471e-01 -3.55766650e-01 -7.83538420e-02 1.02575332e+02] [ 3.54369132e-01 9.34573431e-01 -3.15439438e-02 2.36887920e+01] [ 8.44497022e-02 1.61020206e-03 9.96426442e-01 8.86514837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.63, Y:23.70, Z:8.87 [[ 9.29721018e-01 -3.59834905e-01 -7.83432771e-02 1.02633005e+02] [ 3.58449571e-01 9.33015128e-01 -3.15701615e-02 2.36980011e+01] [ 8.44555088e-02 1.26932859e-03 9.96426443e-01 8.87405609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:23.70, Z:8.88 [[ 9.23681166e-01 -3.75069836e-01 -7.83308508e-02 1.02695148e+02] [ 3.73736229e-01 9.26996554e-01 -3.16009632e-02 2.36987175e+01] [ 8.44649968e-02 -8.58622675e-05 9.96426443e-01 8.87719976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:23.71, Z:8.88 [[ 9.19432691e-01 -3.85369647e-01 -7.83183378e-02 1.02754867e+02] [ 3.84070537e-01 9.22761747e-01 -3.16319445e-02 2.37056146e+01] [ 8.44591576e-02 -9.96322232e-04 9.96426444e-01 8.88057688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:102.81, Y:23.72, Z:8.88 [[ 9.18766679e-01 -3.86957291e-01 -7.83060997e-02 1.02814220e+02] [ 3.85661355e-01 9.22096971e-01 -3.16622117e-02 2.37164294e+01] [ 8.44577410e-02 -1.10945141e-03 9.96426444e-01 8.87768682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:23.73, Z:8.88 [[ 9.21392261e-01 -3.80665335e-01 -7.82956192e-02 1.02872106e+02] [ 3.79344454e-01 9.24712739e-01 -3.16881072e-02 2.37277447e+01] [ 8.44635204e-02 -5.03832153e-04 9.96426445e-01 8.88479385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:23.74, Z:8.89 [[ 9.28474724e-01 -3.63051416e-01 -7.82838232e-02 1.02927383e+02] [ 3.61665092e-01 9.31768415e-01 -3.17172218e-02 2.37439720e+01] [ 8.44573762e-02 1.13611261e-03 9.96426445e-01 8.89382346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:23.76, Z:8.89 [[ 9.35783340e-01 -3.43775728e-01 -7.82801997e-02 1.02985476e+02] [ 3.42320850e-01 9.39047329e-01 -3.17261623e-02 2.37582618e+01] [ 8.44154970e-02 2.89186959e-03 9.96426445e-01 8.89292647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:23.77, Z:8.89 [[ 9.37499972e-01 -3.39068702e-01 -7.82701561e-02 1.03043031e+02] [ 3.37595377e-01 9.40755675e-01 -3.17509212e-02 2.37710146e+01] [ 8.43988372e-02 3.34284493e-03 9.96426446e-01 8.89470293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:23.78, Z:8.90 [[ 9.37500312e-01 -3.39068581e-01 -7.82666127e-02 1.03102262e+02] [ 3.37594528e-01 9.40755685e-01 -3.17596534e-02 2.37811769e+01] [ 8.43984615e-02 3.35230481e-03 9.96426446e-01 8.89735952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:23.78, Z:8.91 [[ 9.34308438e-01 -3.47769697e-01 -7.82558646e-02 1.03164826e+02] [ 3.46323757e-01 9.37576396e-01 -3.17861148e-02 2.37832015e+01] [ 8.44250990e-02 2.59617017e-03 9.96426446e-01 8.90558751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:23.79, Z:8.92 [[ 9.31562078e-01 -3.55062929e-01 -7.82458411e-02 1.03225670e+02] [ 3.53640511e-01 9.34840341e-01 -3.18107699e-02 2.37876385e+01] [ 8.44421940e-02 1.96280763e-03 9.96426446e-01 8.91762095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:23.79, Z:8.93 [[ 9.28773192e-01 -3.62297774e-01 -7.82347842e-02 1.03285513e+02] [ 3.60898609e-01 9.32061446e-01 -3.18379401e-02 2.37949072e+01] [ 8.44544409e-02 1.33540045e-03 9.96426447e-01 8.92914138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:23.80, Z:8.93 [[ 9.25760338e-01 -3.69930861e-01 -7.82237421e-02 1.03344807e+02] [ 3.68556521e-01 9.29059045e-01 -3.18650467e-02 2.38044725e+01] [ 8.44623394e-02 6.69526149e-04 9.96426447e-01 8.93204718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:23.82, Z:8.94 [[ 9.22462221e-01 -3.78082198e-01 -7.82131882e-02 1.03402373e+02] [ 3.76734813e-01 9.25772029e-01 -3.18909304e-02 2.38157269e+01] [ 8.44649750e-02 -4.74524044e-05 9.96426448e-01 8.93607899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:23.83, Z:8.94 [[ 9.20864961e-01 -3.81958555e-01 -7.82009342e-02 1.03457935e+02] [ 3.80622553e-01 9.24179379e-01 -3.19209509e-02 2.38349276e+01] [ 8.44641711e-02 -3.70153992e-04 9.96426448e-01 8.94038263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:23.86, Z:8.95 [[ 9.12930808e-01 -4.00554002e-01 -7.81909939e-02 1.03512381e+02] [ 3.99283404e-01 9.16270846e-01 -3.19452814e-02 2.38574012e+01] [ 8.44399384e-02 -2.05653459e-03 9.96426449e-01 8.94730460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:23.88, Z:8.95 [[ 9.04592040e-01 -4.19047833e-01 -7.81802653e-02 1.03566602e+02] [ 4.17843201e-01 9.07956432e-01 -3.19715163e-02 2.38815053e+01] [ 8.43818693e-02 -3.74591313e-03 9.96426449e-01 8.94791913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:23.91, Z:8.96 [[ 9.00252117e-01 -4.28293849e-01 -7.81697142e-02 1.03617711e+02] [ 4.27121519e-01 9.03627900e-01 -3.19972928e-02 2.39103466e+01] [ 8.43405783e-02 -4.58233642e-03 9.96426449e-01 8.95621695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.67, Y:23.94, Z:8.96 [[ 8.98503186e-01 -4.31952879e-01 -7.81584036e-02 1.03667214e+02] [ 4.30791901e-01 9.01882888e-01 -3.20248970e-02 2.39434792e+01] [ 8.43229732e-02 -4.89553528e-03 9.96426450e-01 8.96100367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.71, Y:23.99, Z:8.97 [[ 8.94520515e-01 -4.40143200e-01 -7.81473765e-02 1.03711787e+02] [ 4.39010809e-01 8.97909902e-01 -3.20517829e-02 2.39869522e+01] [ 8.42766775e-02 -5.63656566e-03 9.96426450e-01 8.97068775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:103.76, Y:24.03, Z:8.98 [[ 8.90776763e-01 -4.47672146e-01 -7.81435105e-02 1.03757374e+02] [ 4.46567562e-01 8.94175314e-01 -3.20612056e-02 2.40305472e+01] [ 8.42269067e-02 -6.33697997e-03 9.96426450e-01 8.97647507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:103.80, Y:24.07, Z:8.98 [[ 8.90561534e-01 -4.48101919e-01 -7.81333787e-02 1.03802628e+02] [ 4.46996824e-01 8.93959919e-01 -3.20858779e-02 2.40732920e+01] [ 8.42258523e-02 -6.35092349e-03 9.96426451e-01 8.97853970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:24.13, Z:8.99 [[ 8.93984971e-01 -4.41234766e-01 -7.81201151e-02 1.03840562e+02] [ 4.40100744e-01 8.97373813e-01 -3.21181388e-02 2.41316949e+01] [ 8.42745850e-02 -5.66758737e-03 9.96426451e-01 8.99032199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:24.18, Z:8.99 [[ 8.99715881e-01 -4.29428916e-01 -7.81161934e-02 1.03882951e+02] [ 4.28249560e-01 9.03089213e-01 -3.21276741e-02 2.41810684e+01] [ 8.43424439e-02 -4.54744682e-03 9.96426451e-01 8.98916908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:24.22, Z:9.00 [[ 9.06084920e-01 -4.15822752e-01 -7.81124601e-02 1.03926967e+02] [ 4.14591918e-01 9.09439811e-01 -3.21367484e-02 2.42246694e+01] [ 8.44017722e-02 -3.26617159e-03 9.96426451e-01 8.99507765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:103.98, Y:24.26, Z:9.00 [[ 9.12481799e-01 -4.01593470e-01 -7.81002677e-02 1.03975357e+02] [ 4.00307757e-01 9.15816043e-01 -3.21663517e-02 2.42606761e+01] [ 8.44432750e-02 -1.91293253e-03 9.96426452e-01 8.99635825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:24.30, Z:9.00 [[ 9.21078107e-01 -3.81467118e-01 -7.80894221e-02 1.04020951e+02] [ 3.80106295e-01 9.24382408e-01 -3.21926601e-02 2.43011370e+01] [ 8.44649293e-02 -3.03265358e-05 9.96426452e-01 8.99680622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:24.33, Z:9.00 [[ 9.23640724e-01 -3.75220534e-01 -7.80856181e-02 1.04070675e+02] [ 3.73836585e-01 9.26935406e-01 -3.22018843e-02 2.43322211e+01] [ 8.44631323e-02 5.51710929e-04 9.96426452e-01 8.99881148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:24.35, Z:9.00 [[ 9.24038611e-01 -3.74242141e-01 -7.80734628e-02 1.04126364e+02] [ 3.72852216e-01 9.27330775e-01 -3.22313279e-02 2.43535070e+01] [ 8.44622460e-02 6.73127871e-04 9.96426453e-01 8.99688715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:24.38, Z:9.01 [[ 9.21689150e-01 -3.79992809e-01 -7.80677626e-02 1.04178763e+02] [ 3.78622256e-01 9.24989426e-01 -3.22451286e-02 2.43761396e+01] [ 8.44647719e-02 1.61792795e-04 9.96426453e-01 9.00739192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:24.39, Z:9.02 [[ 9.16288847e-01 -3.92837280e-01 -7.80616423e-02 1.04233873e+02] [ 3.91511724e-01 9.19607452e-01 -3.22599382e-02 2.43923630e+01] [ 8.44589744e-02 -1.00262657e-03 9.96426453e-01 9.02288487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:24.41, Z:9.03 [[ 9.14041004e-01 -3.98040621e-01 -7.80557900e-02 1.04288327e+02] [ 3.96732747e-01 9.17366617e-01 -3.22740923e-02 2.44104335e+01] [ 8.44521758e-02 -1.46744426e-03 9.96426453e-01 9.03036825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:24.43, Z:9.03 [[ 9.20019150e-01 -3.84023462e-01 -7.80432235e-02 1.04342837e+02] [ 3.82662335e-01 9.23323324e-01 -3.23044514e-02 2.44288284e+01] [ 8.44647958e-02 -1.43488142e-04 9.96426454e-01 9.02897365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:24.45, Z:9.03 [[ 9.25859489e-01 -3.69722025e-01 -7.80373732e-02 1.04397103e+02] [ 3.68308674e-01 9.29141663e-01 -3.23185777e-02 2.44472788e+01] [ 8.44566647e-02 1.18062034e-03 9.96426454e-01 9.02991870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:24.45, Z:9.02 [[ 9.31095486e-01 -3.56331657e-01 -7.80316992e-02 1.04459495e+02] [ 3.54869974e-01 9.34356423e-01 -3.23322715e-02 2.44536835e+01] [ 8.44304313e-02 2.41332503e-03 9.96426454e-01 9.02491680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:24.46, Z:9.03 [[ 9.31255352e-01 -3.55913810e-01 -7.80309443e-02 1.04519299e+02] [ 3.54450511e-01 9.34515565e-01 -3.23340932e-02 2.44633155e+01] [ 8.44292824e-02 2.45318927e-03 9.96426454e-01 9.03446034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:24.47, Z:9.04 [[ 9.34169663e-01 -3.48193152e-01 -7.80292907e-02 1.04578490e+02] [ 3.46702584e-01 9.37417499e-01 -3.23380833e-02 2.44711972e+01] [ 8.44059217e-02 3.15629962e-03 9.96426454e-01 9.03920761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.64, Y:24.47, Z:9.03 [[ 9.38501581e-01 -3.36345452e-01 -7.80161554e-02 1.04641978e+02] [ 3.34811285e-01 9.41729050e-01 -3.23697414e-02 2.44725448e+01] [ 8.43574953e-02 4.25836427e-03 9.96426455e-01 9.03306107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:24.48, Z:9.04 [[ 9.36664038e-01 -3.41429655e-01 -7.80145591e-02 1.04703596e+02] [ 3.39912692e-01 9.39899629e-01 -3.23735884e-02 2.44750071e+01] [ 8.43791582e-02 3.80503727e-03 9.96426455e-01 9.04001774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:24.47, Z:9.06 [[ 9.27444918e-01 -3.65732305e-01 -7.80115745e-02 1.04767402e+02] [ 3.64299605e-01 9.30718692e-01 -3.23807789e-02 2.44676133e+01] [ 8.44495274e-02 1.61180306e-03 9.96426455e-01 9.05975804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:24.47, Z:9.06 [[ 9.21572332e-01 -3.80290154e-01 -7.79989477e-02 1.04829033e+02] [ 3.78906607e-01 9.24867179e-01 -3.24111658e-02 2.44707420e+01] [ 8.44643140e-02 3.14917063e-04 9.96426455e-01 9.06331737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:24.48, Z:9.05 [[ 9.19935736e-01 -3.84234771e-01 -7.79864253e-02 1.04890440e+02] [ 3.82862800e-01 9.23235420e-01 -3.24412689e-02 2.44776040e+01] [ 8.44648937e-02 -1.42185055e-05 9.96426456e-01 9.05475369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:24.49, Z:9.06 [[ 9.21038224e-01 -3.81587092e-01 -7.79735909e-02 1.04948109e+02] [ 3.80203027e-01 9.24332852e-01 -3.24720877e-02 2.44885396e+01] [ 8.44644812e-02 2.62238763e-04 9.96426456e-01 9.06106651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:24.50, Z:9.08 [[ 9.20468235e-01 -3.82960611e-01 -7.79704939e-02 1.05006442e+02] [ 3.81580832e-01 9.23764661e-01 -3.24795223e-02 2.44993946e+01] [ 8.44647646e-02 1.44322704e-04 9.96426456e-01 9.07900396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:105.06, Y:24.51, Z:9.09 [[ 9.17711794e-01 -3.89520420e-01 -7.79673437e-02 1.05062959e+02] [ 3.88163560e-01 9.21017720e-01 -3.24870827e-02 2.45149728e+01] [ 8.44636872e-02 -4.50302783e-04 9.96426456e-01 9.09257895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:24.54, Z:9.10 [[ 9.13797181e-01 -3.98619443e-01 -7.79567337e-02 1.05117734e+02] [ 3.97293328e-01 9.17115558e-01 -3.25125229e-02 2.45351125e+01] [ 8.44554571e-02 -1.26183842e-03 9.96426457e-01 9.09571056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:24.56, Z:9.10 [[ 9.12047683e-01 -4.02608639e-01 -7.79442639e-02 1.05170359e+02] [ 4.01294485e-01 9.15370815e-01 -3.25423903e-02 2.45584402e+01] [ 8.44497518e-02 -1.59839160e-03 9.96426457e-01 9.09799597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:24.58, Z:9.10 [[ 9.19345653e-01 -3.85655646e-01 -7.79313343e-02 1.05222949e+02] [ 3.84277576e-01 9.22642793e-01 -3.25733243e-02 2.45844716e+01] [ 8.44648703e-02 -1.12017754e-06 9.96426458e-01 9.10211074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:24.61, Z:9.11 [[ 9.26012254e-01 -3.69363836e-01 -7.79208665e-02 1.05273975e+02] [ 3.67925663e-01 9.29283624e-01 -3.25983458e-02 2.46103710e+01] [ 8.44512353e-02 1.51738127e-03 9.96426458e-01 9.11072018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:24.63, Z:9.11 [[ 9.29368172e-01 -3.60837589e-01 -7.79168436e-02 1.05329453e+02] [ 3.59368605e-01 9.32625823e-01 -3.26079585e-02 2.46327938e+01] [ 8.44334376e-02 2.30393132e-03 9.96426458e-01 9.10730868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:24.66, Z:9.11 [[ 9.26505356e-01 -3.68128321e-01 -7.79061258e-02 1.05382591e+02] [ 3.66682827e-01 9.29773497e-01 -3.26335452e-02 2.46552496e+01] [ 8.44483833e-02 1.66831596e-03 9.96426459e-01 9.10883724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:24.67, Z:9.12 [[ 9.21308641e-01 -3.80948359e-01 -7.79020910e-02 1.05440273e+02] [ 3.79547536e-01 9.24596177e-01 -3.26431741e-02 2.46674857e+01] [ 8.44633392e-02 5.06891643e-04 9.96426459e-01 9.12299646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:24.69, Z:9.13 [[ 9.16014434e-01 -3.93510576e-01 -7.78908478e-02 1.05494488e+02] [ 3.92152558e-01 9.19319881e-01 -3.26699801e-02 2.46881589e+01] [ 8.44625876e-02 -6.18921882e-04 9.96426459e-01 9.12706977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:24.71, Z:9.13 [[ 9.13837333e-01 -3.98542705e-01 -7.78783775e-02 1.05549673e+02] [ 3.97200357e-01 9.17149174e-01 -3.26996796e-02 2.47099307e+01] [ 8.44583084e-02 -1.05113133e-03 9.96426460e-01 9.12604221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:24.74, Z:9.12 [[ 9.17235203e-01 -3.90661363e-01 -7.78670795e-02 1.05603347e+02] [ 3.89288273e-01 9.20534417e-01 -3.27265614e-02 2.47350052e+01] [ 8.44643297e-02 -2.94786758e-04 9.96426460e-01 9.11932800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:24.76, Z:9.13 [[ 9.18264445e-01 -3.88236347e-01 -7.78649345e-02 1.05656886e+02] [ 3.86854112e-01 9.21559838e-01 -3.27316642e-02 2.47598969e+01] [ 8.44648181e-02 -6.60466215e-05 9.96426460e-01 9.13175895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:105.71, Y:24.78, Z:9.14 [[ 9.16209472e-01 -3.93061701e-01 -7.78633587e-02 1.05711169e+02] [ 3.91696502e-01 9.19511959e-01 -3.27354123e-02 2.47818573e+01] [ 8.44633263e-02 -5.06310416e-04 9.96426460e-01 9.14116653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:105.77, Y:24.80, Z:9.15 [[ 9.14373633e-01 -3.97315756e-01 -7.78527400e-02 1.05766601e+02] [ 3.95963773e-01 9.17681552e-01 -3.27606468e-02 2.48014092e+01] [ 8.44603444e-02 -8.71392982e-04 9.96426460e-01 9.14731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:24.83, Z:9.16 [[ 9.12054774e-01 -4.02612536e-01 -7.78410927e-02 1.05817416e+02] [ 4.01277402e-01 9.15369529e-01 -3.27882982e-02 2.48279091e+01] [ 8.44543442e-02 -1.33114755e-03 9.96426461e-01 9.15580813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:105.87, Y:24.85, Z:9.16 [[ 9.11209506e-01 -4.04522718e-01 -7.78370586e-02 1.05870603e+02] [ 4.03193715e-01 9.14526723e-01 -3.27978719e-02 2.48505128e+01] [ 8.44515545e-02 -1.49768018e-03 9.96426461e-01 9.16225006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:24.88, Z:9.16 [[ 9.14356519e-01 -3.97358919e-01 -7.78334494e-02 1.05922230e+02] [ 3.96003194e-01 9.17662905e-01 -3.28064349e-02 2.48815159e+01] [ 8.44607988e-02 -8.25516961e-04 9.96426461e-01 9.15771298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:24.91, Z:9.16 [[ 9.18987029e-01 -3.86531346e-01 -7.78226166e-02 1.05974733e+02] [ 3.85134488e-01 9.22276249e-01 -3.28321122e-02 2.49087613e+01] [ 8.44645914e-02 2.00111711e-04 9.96426461e-01 9.16243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:24.94, Z:9.16 [[ 9.20723070e-01 -3.82379684e-01 -7.78126295e-02 1.06026442e+02] [ 3.80965996e-01 9.24005091e-01 -3.28557647e-02 2.49378458e+01] [ 8.44626428e-02 6.07094721e-04 9.96426462e-01 9.16316810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:24.96, Z:9.18 [[ 9.19180325e-01 -3.86075881e-01 -7.78006710e-02 1.06079777e+02] [ 3.84672996e-01 9.22466978e-01 -3.28840576e-02 2.49615595e+01] [ 8.44642913e-02 2.98561516e-04 9.96426462e-01 9.17508894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:106.13, Y:24.98, Z:9.18 [[ 9.15770025e-01 -3.94099071e-01 -7.77893589e-02 1.06133186e+02] [ 3.92722709e-01 9.19067872e-01 -3.29107955e-02 2.49846156e+01] [ 8.44638145e-02 -4.10927721e-04 9.96426463e-01 9.18010132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:106.19, Y:25.01, Z:9.18 [[ 9.12270918e-01 -4.02135042e-01 -7.77764735e-02 1.06187239e+02] [ 4.00785134e-01 9.15579681e-01 -3.29412189e-02 2.50093744e+01] [ 8.44573773e-02 -1.12033831e-03 9.96426463e-01 9.18209410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:25.03, Z:9.19 [[ 9.07937982e-01 -4.11824868e-01 -7.77746744e-02 1.06240850e+02] [ 4.10509899e-01 9.11260785e-01 -3.29454661e-02 2.50320556e+01] [ 8.44407731e-02 -2.01483372e-03 9.96426463e-01 9.19315542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:25.06, Z:9.20 [[ 9.02013625e-01 -4.24646140e-01 -7.77629462e-02 1.06291786e+02] [ 4.23375997e-01 9.05353819e-01 -3.29731255e-02 2.50576244e+01] [ 8.44048909e-02 -3.18075643e-03 9.96426464e-01 9.20179264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.34, Y:25.08, Z:9.21 [[ 8.99305548e-01 -4.30352636e-01 -7.77569280e-02 1.06343257e+02] [ 4.29102457e-01 9.02653266e-01 -3.29873116e-02 2.50848314e+01] [ 8.43837215e-02 -3.70001649e-03 9.96426464e-01 9.20839728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:25.11, Z:9.21 [[ 8.96769713e-01 -4.35614436e-01 -7.77440952e-02 1.06392836e+02] [ 4.34381281e-01 9.00123739e-01 -3.30175283e-02 2.51134668e+01] [ 8.43622176e-02 -4.16146027e-03 9.96426464e-01 9.21125200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:106.44, Y:25.15, Z:9.21 [[ 8.94324926e-01 -4.40612790e-01 -7.77386421e-02 1.06443072e+02] [ 4.39397262e-01 8.97685380e-01 -3.30303624e-02 2.51450037e+01] [ 8.43384426e-02 -4.61827009e-03 9.96426464e-01 9.21255235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:106.49, Y:25.19, Z:9.21 [[ 8.91596736e-01 -4.46109755e-01 -7.77261028e-02 1.06489277e+02] [ 4.44912378e-01 8.94963699e-01 -3.30598434e-02 2.51873716e+01] [ 8.43103591e-02 -5.10525670e-03 9.96426465e-01 9.21316850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:25.22, Z:9.21 [[ 8.91878584e-01 -4.45547947e-01 -7.77149799e-02 1.06537870e+02] [ 4.44346181e-01 8.95243983e-01 -3.30859698e-02 2.52239293e+01] [ 8.43152541e-02 -5.02368663e-03 9.96426465e-01 9.21452312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:25.27, Z:9.24 [[ 8.96871224e-01 -4.35412548e-01 -7.77040548e-02 1.06582655e+02] [ 4.34170508e-01 9.00221968e-01 -3.31116080e-02 2.52652713e+01] [ 8.43681068e-02 -4.03996053e-03 9.96426466e-01 9.23621109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.63, Y:25.31, Z:9.24 [[ 9.11110379e-01 -4.04773620e-01 -7.76929485e-02 1.06625610e+02] [ 4.03416538e-01 9.14416203e-01 -3.31376476e-02 2.53129993e+01] [ 8.44569365e-02 -1.15056571e-03 9.96426466e-01 9.23853629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:106.67, Y:25.35, Z:9.24 [[ 9.20347067e-01 -3.83310584e-01 -7.76805777e-02 1.06673709e+02] [ 3.81873958e-01 9.23619107e-01 -3.31666215e-02 2.53494146e+01] [ 8.44603830e-02 8.60613201e-04 9.96426466e-01 9.23889419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:25.38, Z:9.24 [[ 9.25663362e-01 -3.70290073e-01 -7.76698287e-02 1.06725428e+02] [ 3.68805326e-01 9.28913848e-01 -3.31917748e-02 2.53791411e+01] [ 8.44391642e-02 2.07936335e-03 9.96426467e-01 9.24052507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:25.40, Z:9.24 [[ 9.26610873e-01 -3.67914864e-01 -7.76591468e-02 1.06778617e+02] [ 3.66419694e-01 9.29856578e-01 -3.32167486e-02 2.54026127e+01] [ 8.44328040e-02 2.32315964e-03 9.96426467e-01 9.24025051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:25.42, Z:9.25 [[ 9.25336604e-01 -3.71108890e-01 -7.76553977e-02 1.06835842e+02] [ 3.69624189e-01 9.28587112e-01 -3.32255111e-02 2.54181656e+01] [ 8.44400840e-02 2.04146826e-03 9.96426467e-01 9.25148450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.89, Y:25.43, Z:9.26 [[ 9.22268628e-01 -3.78669354e-01 -7.76537041e-02 1.06894262e+02] [ 3.77210972e-01 9.25531029e-01 -3.32294689e-02 2.54261504e+01] [ 8.44538941e-02 1.35466753e-03 9.96426467e-01 9.25932194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.95, Y:25.44, Z:9.26 [[ 9.21062772e-01 -3.81594232e-01 -7.76480050e-02 1.06952160e+02] [ 3.80145088e-01 9.24329286e-01 -3.32427808e-02 2.54394746e+01] [ 8.44575784e-02 1.10118014e-03 9.96426467e-01 9.25814372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:25.45, Z:9.26 [[ 9.18464132e-01 -3.87809470e-01 -7.76366744e-02 1.07009886e+02] [ 3.86380197e-01 9.21739389e-01 -3.32692218e-02 2.54538182e+01] [ 8.44629001e-02 5.59313355e-04 9.96426468e-01 9.26306248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:25.47, Z:9.27 [[ 9.17481108e-01 -3.90131643e-01 -7.76254982e-02 1.07067215e+02] [ 3.88708456e-01 9.20759013e-01 -3.32952784e-02 2.54693189e+01] [ 8.44639188e-02 3.74101337e-04 9.96426468e-01 9.26908531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.12, Y:25.48, Z:9.28 [[ 9.26351020e-01 -3.68577895e-01 -7.76152211e-02 1.07124632e+02] [ 3.67076468e-01 9.29593834e-01 -3.33192184e-02 2.54802691e+01] [ 8.44313583e-02 2.37457073e-03 9.96426469e-01 9.27855669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:25.50, Z:9.28 [[ 9.28130725e-01 -3.64073958e-01 -7.76112703e-02 1.07179483e+02] [ 3.62556029e-01 9.31365848e-01 -3.33284184e-02 2.55012724e+01] [ 8.44184958e-02 2.79469521e-03 9.96426469e-01 9.28173498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:25.51, Z:9.29 [[ 9.29900044e-01 -3.59533122e-01 -7.76005352e-02 1.07238012e+02] [ 3.57997317e-01 9.33126718e-01 -3.33533951e-02 2.55115449e+01] [ 8.44027830e-02 3.23454019e-03 9.96426469e-01 9.29357665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:25.52, Z:9.29 [[ 9.30217267e-01 -3.58713974e-01 -7.75894422e-02 1.07297292e+02] [ 3.57173180e-01 9.33441562e-01 -3.33791806e-02 2.55226443e+01] [ 8.43987886e-02 3.33702226e-03 9.96426469e-01 9.29076434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:107.36, Y:25.52, Z:9.29 [[ 9.33513895e-01 -3.50047683e-01 -7.75785282e-02 1.07360175e+02] [ 3.48474871e-01 9.36722692e-01 -3.34045274e-02 2.55244768e+01] [ 8.43627452e-02 4.14942285e-03 9.96426470e-01 9.29286837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:25.54, Z:9.31 [[ 9.34964800e-01 -3.46156143e-01 -7.75676926e-02 1.07418223e+02] [ 3.44567900e-01 9.38165987e-01 -3.34296695e-02 2.55352919e+01] [ 8.43432564e-02 4.52822735e-03 9.96426470e-01 9.30678604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:25.55, Z:9.31 [[ 9.35814886e-01 -3.43853974e-01 -7.75560735e-02 1.07473920e+02] [ 3.42255632e-01 9.39011042e-01 -3.34566040e-02 2.55530318e+01] [ 8.43301957e-02 4.76518503e-03 9.96426471e-01 9.31161944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.54, Y:25.55, Z:9.32 [[ 9.36797286e-01 -3.41171332e-01 -7.75433307e-02 1.07537027e+02] [ 3.39561407e-01 9.39987623e-01 -3.34861124e-02 2.55521056e+01] [ 8.43142727e-02 5.03897673e-03 9.96426471e-01 9.31892234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.60, Y:25.56, Z:9.32 [[ 9.36578404e-01 -3.41772618e-01 -7.75394758e-02 1.07598511e+02] [ 3.40164006e-01 9.39769403e-01 -3.34950363e-02 2.55590470e+01] [ 8.43169132e-02 4.99458891e-03 9.96426471e-01 9.32068854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:25.57, Z:9.32 [[ 9.36483480e-01 -3.42035096e-01 -7.75286013e-02 1.07659886e+02] [ 3.40425305e-01 9.39673884e-01 -3.35201881e-02 2.55661008e+01] [ 8.43166826e-02 4.99840470e-03 9.96426471e-01 9.32272690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:25.57, Z:9.33 [[ 9.33384627e-01 -3.50405681e-01 -7.75177217e-02 1.07720765e+02] [ 3.48822436e-01 9.36588287e-01 -3.35453290e-02 2.55724482e+01] [ 8.43566640e-02 4.27077389e-03 9.96426472e-01 9.32959289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:25.58, Z:9.33 [[ 9.26933559e-01 -3.67133340e-01 -7.75066946e-02 1.07779646e+02] [ 3.65605833e-01 9.30164167e-01 -3.35707881e-02 2.55818343e+01] [ 8.44189055e-02 2.78099041e-03 9.96426472e-01 9.33183736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:25.59, Z:9.34 [[ 9.16948511e-01 -3.91406102e-01 -7.75028434e-02 1.07837957e+02] [ 3.89963414e-01 9.20217877e-01 -3.35796766e-02 2.55942381e+01] [ 8.44627924e-02 5.67561036e-04 9.96426472e-01 9.34001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:25.61, Z:9.34 [[ 9.08722877e-01 -4.10143556e-01 -7.74919060e-02 1.07894822e+02] [ 4.08766123e-01 9.12020267e-01 -3.36048981e-02 2.56105751e+01] [ 8.44570212e-02 -1.13852630e-03 9.96426473e-01 9.34119059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:25.63, Z:9.34 [[ 9.07893161e-01 -4.11979028e-01 -7.74808954e-02 1.07950797e+02] [ 4.10606097e-01 9.11192427e-01 -3.36302656e-02 2.56305060e+01] [ 8.44549692e-02 -1.28143989e-03 9.96426473e-01 9.34294303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:108.00, Y:25.66, Z:9.35 [[ 9.16025122e-01 -3.93568823e-01 -7.74697138e-02 1.08001330e+02] [ 3.92127398e-01 9.19295044e-01 -3.36560035e-02 2.56564328e+01] [ 8.44634776e-02 4.51747485e-04 9.96426473e-01 9.34821860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:108.05, Y:25.68, Z:9.36 [[ 9.22772685e-01 -3.77478290e-01 -7.74642630e-02 1.08052999e+02] [ 3.75978810e-01 9.26016395e-01 -3.36685447e-02 2.56834352e+01] [ 8.44423222e-02 1.94349196e-03 9.96426473e-01 9.35901633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157105681 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:25.71, Z:9.37 [[ 9.25378209e-01 -3.71047297e-01 -7.74536869e-02 1.08106597e+02] [ 3.69523247e-01 9.28610446e-01 -3.36928572e-02 2.57073141e+01] [ 8.44259464e-02 2.55769801e-03 9.96426474e-01 9.36527692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:25.73, Z:9.37 [[ 9.25204274e-01 -3.71482963e-01 -7.74432663e-02 1.08161247e+02] [ 3.69958433e-01 9.28436285e-01 -3.37167921e-02 2.57287801e+01] [ 8.44263523e-02 2.54413071e-03 9.96426474e-01 9.37307824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277105681 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:108.22, Y:25.75, Z:9.37 [[ 9.26171950e-01 -3.69065914e-01 -7.74330024e-02 1.08215865e+02] [ 3.67530983e-01 9.29399035e-01 -3.37403476e-02 2.57508795e+01] [ 8.44185699e-02 2.79033608e-03 9.96426475e-01 9.36921175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:25.77, Z:9.37 [[ 9.27316211e-01 -3.66183464e-01 -7.74229639e-02 1.08268963e+02] [ 3.64636585e-01 9.30537584e-01 -3.37633670e-02 2.57735055e+01] [ 8.44085645e-02 3.07807237e-03 9.96426475e-01 9.36848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397105681 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:108.33, Y:25.79, Z:9.37 [[ 9.28491646e-01 -3.63193607e-01 -7.74187743e-02 1.08325544e+02] [ 3.61635557e-01 9.31707631e-01 -3.37729709e-02 2.57926639e+01] [ 8.43977900e-02 3.36053983e-03 9.96426475e-01 9.37152821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457105681 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:25.81, Z:9.37 [[ 9.24404746e-01 -3.73473535e-01 -7.74169540e-02 1.08381648e+02] [ 3.71950916e-01 9.27637656e-01 -3.37771430e-02 2.58102322e+01] [ 8.44297508e-02 2.42844438e-03 9.96426475e-01 9.37470978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:108.44, Y:25.83, Z:9.38 [[ 9.15218119e-01 -3.95454010e-01 -7.74074986e-02 1.08439546e+02] [ 3.94007238e-01 9.18485676e-01 -3.37987982e-02 2.58250499e+01] [ 8.44635490e-02 4.34157765e-04 9.96426475e-01 9.38083589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:108.49, Y:25.84, Z:9.39 [[ 9.09890596e-01 -4.07564396e-01 -7.73974504e-02 1.08494030e+02] [ 4.06159157e-01 9.13176229e-01 -3.38217924e-02 2.58440131e+01] [ 8.44620703e-02 -6.61552364e-04 9.96426475e-01 9.38858820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637105681 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:108.55, Y:25.87, Z:9.39 [[ 9.07349803e-01 -4.13190716e-01 -7.73935907e-02 1.08545157e+02] [ 4.11805096e-01 9.10643757e-01 -3.38306222e-02 2.58741838e+01] [ 8.44564892e-02 -1.17486671e-03 9.96426476e-01 9.39459969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697105681 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:25.91, Z:9.41 [[ 9.07326579e-01 -4.13242185e-01 -7.73910513e-02 1.08592777e+02] [ 4.11856257e-01 9.10620404e-01 -3.38364303e-02 2.59073022e+01] [ 8.44565108e-02 -1.17329614e-03 9.96426476e-01 9.40795959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757105681 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:25.94, Z:9.41 [[ 9.03632461e-01 -4.21259587e-01 -7.73869276e-02 1.08641124e+02] [ 4.19902070e-01 9.06938096e-01 -3.38458590e-02 2.59416503e+01] [ 8.44430454e-02 -1.91071419e-03 9.96426476e-01 9.41279311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:108.69, Y:25.97, Z:9.41 [[ 8.96373093e-01 -4.36494145e-01 -7.73830672e-02 1.08691012e+02] [ 4.35192014e-01 8.99700935e-01 -3.38546829e-02 2.59745298e+01] [ 8.43989888e-02 -3.33006603e-03 9.96426476e-01 9.41486538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:108.74, Y:26.02, Z:9.43 [[ 8.93255002e-01 -4.42842127e-01 -7.73715224e-02 1.08736462e+02] [ 4.41561358e-01 8.96591123e-01 -3.38810471e-02 2.60152213e+01] [ 8.43745751e-02 -3.89985970e-03 9.96426476e-01 9.42607831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:26.06, Z:9.42 [[ 8.99110091e-01 -4.30832353e-01 -7.73597319e-02 1.08783340e+02] [ 4.29504682e-01 9.02427825e-01 -3.39079467e-02 2.60552004e+01] [ 8.44202151e-02 -2.73938996e-03 9.96426476e-01 9.42209729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:26.10, Z:9.42 [[ 9.05661016e-01 -4.16886253e-01 -7.73561601e-02 1.08828387e+02] [ 4.15506773e-01 9.08957546e-01 -3.39160933e-02 2.60987738e+01] [ 8.44526185e-02 -1.42552490e-03 9.96426477e-01 9.42304288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:108.87, Y:26.14, Z:9.43 [[ 9.10378591e-01 -4.06483118e-01 -7.73453018e-02 1.08872512e+02] [ 4.05063859e-01 9.13658191e-01 -3.39408376e-02 2.61429857e+01] [ 8.44635460e-02 -4.30774523e-04 9.96426477e-01 9.42913845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.92, Y:26.18, Z:9.44 [[ 9.10185266e-01 -4.06917899e-01 -7.73343727e-02 1.08919539e+02] [ 4.05498093e-01 9.13464628e-01 -3.39657214e-02 2.61802201e+01] [ 8.44634740e-02 -4.43841512e-04 9.96426477e-01 9.43802081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:26.21, Z:9.44 [[ 9.10548950e-01 -4.06105583e-01 -7.73231237e-02 1.08968872e+02] [ 4.04680678e-01 9.13826099e-01 -3.39913105e-02 2.62131555e+01] [ 8.44639495e-02 -3.40422048e-04 9.96426478e-01 9.43583590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:26.24, Z:9.45 [[ 9.10880481e-01 -4.05362174e-01 -7.73191921e-02 1.09020102e+02] [ 4.03933835e-01 9.14156135e-01 -3.40002513e-02 2.62398635e+01] [ 8.44642296e-02 -2.61672610e-04 9.96426478e-01 9.44916527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:26.27, Z:9.45 [[ 9.08025736e-01 -4.11719294e-01 -7.73077393e-02 1.09072955e+02] [ 4.10311672e-01 9.11310345e-01 -3.40262722e-02 2.62666080e+01] [ 8.44606154e-02 -8.23536846e-04 9.96426478e-01 9.45116358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:26.29, Z:9.45 [[ 9.05731194e-01 -4.16744840e-01 -7.72964533e-02 1.09125226e+02] [ 4.15353256e-01 9.09022630e-01 -3.40518910e-02 2.62909988e+01] [ 8.44551752e-02 -1.26347362e-03 9.96426478e-01 9.45400494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:26.31, Z:9.46 [[ 8.95723642e-01 -4.37842922e-01 -7.72834562e-02 1.09177806e+02] [ 4.36526267e-01 8.99045760e-01 -3.40813637e-02 2.63126245e+01] [ 8.44036475e-02 -3.20877539e-03 9.96426479e-01 9.45883602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:26.34, Z:9.47 [[ 8.90111408e-01 -4.49143417e-01 -7.72778943e-02 1.09228775e+02] [ 4.47867817e-01 8.93449506e-01 -3.40939703e-02 2.63409448e+01] [ 8.43569788e-02 -4.26284995e-03 9.96426479e-01 9.46712813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:26.37, Z:9.48 [[ 8.90033331e-01 -4.49300150e-01 -7.72660743e-02 1.09278061e+02] [ 4.48022821e-01 8.93370767e-01 -3.41207368e-02 2.63695227e+01] [ 8.43577042e-02 -4.24837162e-03 9.96426480e-01 9.47979958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:26.41, Z:9.49 [[ 8.95190484e-01 -4.38935720e-01 -7.72620861e-02 1.09324345e+02] [ 4.37618950e-01 8.98512556e-01 -3.41297651e-02 2.64096350e+01] [ 8.44017275e-02 -3.25871204e-03 9.96426480e-01 9.48649307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.37, Y:26.45, Z:9.48 [[ 9.00309366e-01 -4.28340217e-01 -7.72509170e-02 1.09372428e+02] [ 4.26982165e-01 9.03614777e-01 -3.41550271e-02 2.64486776e+01] [ 8.44350419e-02 -2.23467297e-03 9.96426480e-01 9.48271553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:109.42, Y:26.50, Z:9.48 [[ 9.01350914e-01 -4.26146167e-01 -7.72397263e-02 1.09416182e+02] [ 4.24777902e-01 9.04652110e-01 -3.41803157e-02 2.64956277e+01] [ 8.44408918e-02 -2.00127019e-03 9.96426480e-01 9.48486794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:26.53, Z:9.49 [[ 9.00512504e-01 -4.27917075e-01 -7.72282758e-02 1.09463387e+02] [ 4.26553087e-01 9.03815469e-01 -3.42061679e-02 2.65319697e+01] [ 8.44375136e-02 -2.13887752e-03 9.96426481e-01 9.49433730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:26.56, Z:9.50 [[ 9.01955012e-01 -4.24870219e-01 -7.72169302e-02 1.09512577e+02] [ 4.23492882e-01 9.05252432e-01 -3.42317604e-02 2.65642430e+01] [ 8.44448694e-02 -1.82531248e-03 9.96426481e-01 9.50438904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:26.60, Z:9.51 [[ 9.06536581e-01 -4.15006962e-01 -7.72052316e-02 1.09561572e+02] [ 4.13591496e-01 9.09817814e-01 -3.42581249e-02 2.65962061e+01] [ 8.44600554e-02 -8.75183814e-04 9.96426482e-01 9.50966294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.61, Y:26.62, Z:9.51 [[ 9.12311267e-01 -4.02156147e-01 -7.71918736e-02 1.09614819e+02] [ 4.00691913e-01 9.15571030e-01 -3.42881974e-02 2.66225589e+01] [ 8.44638525e-02 3.51349333e-04 9.96426482e-01 9.50701900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:26.65, Z:9.51 [[ 9.14897027e-01 -3.96240632e-01 -7.71802600e-02 1.09665345e+02] [ 3.94753119e-01 9.18146232e-01 -3.43143189e-02 2.66501066e+01] [ 8.44594923e-02 9.26919990e-04 9.96426482e-01 9.51228175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.72, Y:26.67, Z:9.52 [[ 9.16485994e-01 -3.92554036e-01 -7.71670383e-02 1.09719732e+02] [ 3.91050953e-01 9.19728025e-01 -3.43440266e-02 2.66724262e+01] [ 8.44545740e-02 1.29957540e-03 9.96426483e-01 9.51974324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.77, Y:26.69, Z:9.52 [[ 9.18822913e-01 -3.87054932e-01 -7.71552612e-02 1.09774304e+02] [ 3.85530229e-01 9.22054832e-01 -3.43704641e-02 2.66920433e+01] [ 8.44446391e-02 1.83468435e-03 9.96426483e-01 9.52347313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.83, Y:26.71, Z:9.53 [[ 9.22468040e-01 -3.78288080e-01 -7.71417154e-02 1.09829777e+02] [ 3.76730133e-01 9.25684065e-01 -3.44008398e-02 2.67089105e+01] [ 8.44222844e-02 2.67206652e-03 9.96426484e-01 9.53082724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:26.72, Z:9.53 [[ 9.24908753e-01 -3.72282026e-01 -7.71355430e-02 1.09886137e+02] [ 3.70702049e-01 9.28114013e-01 -3.44146744e-02 2.67245676e+01] [ 8.44025430e-02 3.23612978e-03 9.96426484e-01 9.53122482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:26.74, Z:9.53 [[ 9.26896982e-01 -3.67304636e-01 -7.71316318e-02 1.09942882e+02] [ 3.65706724e-01 9.30093339e-01 -3.44234381e-02 2.67412359e+01] [ 8.43835053e-02 3.69942447e-03 9.96426484e-01 9.53135619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:26.75, Z:9.53 [[ 9.27396534e-01 -3.66044319e-01 -7.71182545e-02 1.10000361e+02] [ 3.64439580e-01 9.30589467e-01 -3.44533811e-02 2.67545578e+01] [ 8.43768998e-02 3.84700189e-03 9.96426485e-01 9.53111066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:26.77, Z:9.54 [[ 9.24017641e-01 -3.74492745e-01 -7.71140860e-02 1.10058320e+02] [ 3.72916435e-01 9.27224705e-01 -3.44627086e-02 2.67656682e+01] [ 8.44081200e-02 3.08704071e-03 9.96426485e-01 9.54491638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.12, Y:26.77, Z:9.55 [[ 9.18238424e-01 -3.88449998e-01 -7.71025022e-02 1.10119291e+02] [ 3.86920288e-01 9.21467974e-01 -3.44886053e-02 2.67712316e+01] [ 8.44445852e-02 1.83624021e-03 9.96426485e-01 9.55321724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:26.78, Z:9.55 [[ 9.14045001e-01 -3.98219843e-01 -7.70888587e-02 1.10177390e+02] [ 3.96722090e-01 9.17289495e-01 -3.45190744e-02 2.67831701e+01] [ 8.44589807e-02 9.69134253e-04 9.96426486e-01 9.55336060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.23, Y:26.80, Z:9.55 [[ 9.12543675e-01 -4.01649092e-01 -7.70846775e-02 1.10234579e+02] [ 4.00162743e-01 9.15793409e-01 -3.45284090e-02 2.68004173e+01] [ 8.44619437e-02 6.62265290e-04 9.96426486e-01 9.55275178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.29, Y:26.82, Z:9.56 [[ 9.12234309e-01 -4.02353376e-01 -7.70735072e-02 1.10288841e+02] [ 4.00867431e-01 9.15484227e-01 -3.45533252e-02 2.68214707e+01] [ 8.44622272e-02 6.24469979e-04 9.96426486e-01 9.55897691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.34, Y:26.85, Z:9.57 [[ 9.06119229e-01 -4.15942661e-01 -7.70690998e-02 1.10340700e+02] [ 4.14504619e-01 9.09390625e-01 -3.45631528e-02 2.68453896e+01] [ 8.44622066e-02 -6.27160496e-04 9.96426486e-01 9.56809839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.39, Y:26.87, Z:9.58 [[ 8.98618925e-01 -4.31909962e-01 -7.70571959e-02 1.10393124e+02] [ 4.30527755e-01 9.01914301e-01 -3.45896718e-02 2.68699371e+01] [ 8.44386109e-02 -2.09232781e-03 9.96426487e-01 9.58409149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:26.90, Z:9.59 [[ 8.92919117e-01 -4.43575877e-01 -7.70447384e-02 1.10441635e+02] [ 4.42234313e-01 8.96231247e-01 -3.46173975e-02 2.69002036e+01] [ 8.44053444e-02 -3.16129095e-03 9.96426487e-01 9.58588052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:26.93, Z:9.58 [[ 8.91095877e-01 -4.47228897e-01 -7.70353936e-02 1.10492294e+02] [ 4.45899116e-01 8.94412754e-01 -3.46381804e-02 2.69339095e+01] [ 8.43926338e-02 -3.48407413e-03 9.96426487e-01 9.57828538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:26.97, Z:9.58 [[ 8.93366307e-01 -4.42678281e-01 -7.70232515e-02 1.10538486e+02] [ 4.41329277e-01 8.96675413e-01 -3.46651593e-02 2.69734677e+01] [ 8.44103689e-02 -3.02393057e-03 9.96426488e-01 9.58062114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:27.01, Z:9.59 [[ 8.98756910e-01 -4.31630908e-01 -7.70115247e-02 1.10585164e+02] [ 4.30238982e-01 9.02048191e-01 -3.46911920e-02 2.70110817e+01] [ 8.44418972e-02 -1.95441149e-03 9.96426488e-01 9.58619407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.63, Y:27.04, Z:9.60 [[ 9.02853873e-01 -4.22994897e-01 -7.70078049e-02 1.10634111e+02] [ 4.21570778e-01 9.06131352e-01 -3.46994471e-02 2.70443849e+01] [ 8.44568754e-02 -1.13571000e-03 9.96426488e-01 9.59704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:27.08, Z:9.60 [[ 9.07189964e-01 -4.13615588e-01 -7.69968429e-02 1.10681508e+02] [ 4.12155517e-01 9.10451586e-01 -3.47237545e-02 2.70809864e+01] [ 8.44641839e-02 -2.33631973e-04 9.96426489e-01 9.60198106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.73, Y:27.11, Z:9.60 [[ 9.12784868e-01 -4.01119890e-01 -7.69845288e-02 1.10731444e+02] [ 3.99612870e-01 9.16025065e-01 -3.47510343e-02 2.71102010e+01] [ 8.44590890e-02 9.56209753e-04 9.96426489e-01 9.60331859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.78, Y:27.14, Z:9.61 [[ 9.15070925e-01 -3.95877714e-01 -7.69807614e-02 1.10782994e+02] [ 3.94351432e-01 9.18302093e-01 -3.47593777e-02 2.71352161e+01] [ 8.44520573e-02 1.44982239e-03 9.96426489e-01 9.61067353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:27.16, Z:9.62 [[ 9.16976238e-01 -3.91446537e-01 -7.69687462e-02 1.10834475e+02] [ 3.89902412e-01 9.20198916e-01 -3.47859631e-02 2.71627553e+01] [ 8.44434017e-02 1.88760179e-03 9.96426489e-01 9.62001051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:27.18, Z:9.62 [[ 9.19297127e-01 -3.85966578e-01 -7.69583801e-02 1.10888496e+02] [ 3.84401329e-01 9.22509599e-01 -3.48088814e-02 2.71832152e+01] [ 8.44299092e-02 2.41680107e-03 9.96426490e-01 9.62443774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.94, Y:27.20, Z:9.63 [[ 9.20949456e-01 -3.82010046e-01 -7.69442919e-02 1.10944173e+02] [ 3.80428402e-01 9.24153886e-01 -3.48399955e-02 2.72010168e+01] [ 8.44175946e-02 2.81408086e-03 9.96426490e-01 9.62589269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.00, Y:27.22, Z:9.63 [[ 9.18382826e-01 -3.88140724e-01 -7.69399950e-02 1.11001022e+02] [ 3.86579682e-01 9.21597343e-01 -3.48494821e-02 2.72167773e+01] [ 8.44341982e-02 2.26172705e-03 9.96426490e-01 9.63040786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:27.23, Z:9.64 [[ 9.12734554e-01 -4.01245509e-01 -7.69264318e-02 1.11058733e+02] [ 3.99728115e-01 9.15969902e-01 -3.48793958e-02 2.72281080e+01] [ 8.44574971e-02 1.08597215e-03 9.96426491e-01 9.63715191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:27.24, Z:9.64 [[ 9.04536223e-01 -4.19402687e-01 -7.69129881e-02 1.11116324e+02] [ 4.17947723e-01 9.07800122e-01 -3.49090155e-02 2.72404827e+01] [ 8.44625549e-02 -5.69139158e-04 9.96426491e-01 9.64107691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:27.26, Z:9.64 [[ 8.97208995e-01 -4.34859152e-01 -7.68995264e-02 1.11172511e+02] [ 4.33457858e-01 9.00496294e-01 -3.49386447e-02 2.72581597e+01] [ 8.44411280e-02 -1.98543776e-03 9.96426492e-01 9.64454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:111.23, Y:27.28, Z:9.65 [[ 8.95898020e-01 -4.37555708e-01 -7.68878469e-02 1.11225311e+02] [ 4.36162105e-01 8.99188586e-01 -3.49643285e-02 2.72808593e+01] [ 8.44355158e-02 -2.21109251e-03 9.96426492e-01 9.65396864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:27.31, Z:9.66 [[ 8.94663862e-01 -4.40074377e-01 -7.68837885e-02 1.11276997e+02] [ 4.38689271e-01 8.97958014e-01 -3.49732503e-02 2.73065584e+01] [ 8.44292454e-02 -2.43878992e-03 9.96426492e-01 9.66377820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:27.33, Z:9.67 [[ 8.88856473e-01 -4.51690139e-01 -7.68777552e-02 1.11327370e+02] [ 4.50346913e-01 8.92167923e-01 -3.49865076e-02 2.73349301e+01] [ 8.43909276e-02 -3.52367596e-03 9.96426493e-01 9.67197233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:27.37, Z:9.68 [[ 8.85811955e-01 -4.57632603e-01 -7.68737970e-02 1.11376267e+02] [ 4.56310831e-01 8.89132027e-01 -3.49952026e-02 2.73676104e+01] [ 8.43659006e-02 -4.07917736e-03 9.96426493e-01 9.67589154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.42, Y:27.40, Z:9.68 [[ 8.86637574e-01 -4.56033223e-01 -7.68603334e-02 1.11424168e+02] [ 4.54702907e-01 8.89954231e-01 -3.50247480e-02 2.74017962e+01] [ 8.43746276e-02 -3.89435946e-03 9.96426493e-01 9.67856344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.47, Y:27.44, Z:9.68 [[ 8.88018650e-01 -4.53340302e-01 -7.68469076e-02 1.11469937e+02] [ 4.51997385e-01 8.91330224e-01 -3.50541805e-02 2.74424591e+01] [ 8.43874442e-02 -3.60583522e-03 9.96426494e-01 9.67905260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.52, Y:27.48, Z:9.69 [[ 8.89489543e-01 -4.50449407e-01 -7.68354363e-02 1.11517722e+02] [ 4.49093558e-01 8.92795844e-01 -3.50793067e-02 2.74785454e+01] [ 8.43998110e-02 -3.30362295e-03 9.96426494e-01 9.68893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.56, Y:27.52, Z:9.70 [[ 8.93766827e-01 -4.41903767e-01 -7.68239567e-02 1.11563208e+02] [ 4.40514135e-01 8.97059070e-01 -3.51044292e-02 2.75156859e+01] [ 8.44284066e-02 -2.46686459e-03 9.96426494e-01 9.69893263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:27.56, Z:9.71 [[ 9.02259959e-01 -4.24294306e-01 -7.68199672e-02 1.11608066e+02] [ 4.22839646e-01 9.05523992e-01 -3.51131574e-02 2.75562691e+01] [ 8.44606361e-02 -8.01331810e-04 9.96426494e-01 9.70640283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:27.58, Z:9.71 [[ 9.06984065e-01 -4.14102172e-01 -7.68068829e-02 1.11657968e+02] [ 4.12608409e-01 9.10230387e-01 -3.51417547e-02 2.75849904e+01] [ 8.44642358e-02 1.81845825e-04 9.96426495e-01 9.71143509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.71, Y:27.62, Z:9.71 [[ 9.12145981e-01 -4.02607057e-01 -7.67936710e-02 1.11708841e+02] [ 4.01069959e-01 9.15372010e-01 -3.51706027e-02 2.76152669e+01] [ 8.44547098e-02 1.28108942e-03 9.96426495e-01 9.71092538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:27.64, Z:9.71 [[ 9.13989187e-01 -3.98407040e-01 -7.67827853e-02 1.11762729e+02] [ 3.96853125e-01 9.17207149e-01 -3.51943519e-02 2.76366457e+01] [ 8.44473972e-02 1.69576880e-03 9.96426496e-01 9.71006807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:27.66, Z:9.71 [[ 9.12761600e-01 -4.01214088e-01 -7.67692542e-02 1.11816136e+02] [ 3.99667590e-01 9.15983132e-01 -3.52238425e-02 2.76581158e+01] [ 8.44516438e-02 1.46878798e-03 9.96426496e-01 9.71436677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.87, Y:27.67, Z:9.72 [[ 9.08757174e-01 -4.10206134e-01 -7.67549808e-02 1.11874278e+02] [ 4.08688892e-01 9.11992588e-01 -3.52549179e-02 2.76715602e+01] [ 8.44617571e-02 6.69251486e-04 9.96426497e-01 9.72476199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:27.69, Z:9.73 [[ 9.07412509e-01 -4.13174451e-01 -7.67425038e-02 1.11930294e+02] [ 4.11665499e-01 9.10651796e-01 -3.52820568e-02 2.76863768e+01] [ 8.44633434e-02 4.23138609e-04 9.96426497e-01 9.72899486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:27.70, Z:9.73 [[ 9.07820411e-01 -4.12278575e-01 -7.67364188e-02 1.11987633e+02] [ 4.10765307e-01 9.11057685e-01 -3.52952865e-02 2.77034794e+01] [ 8.44627944e-02 5.21122888e-04 9.96426497e-01 9.73090694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:27.72, Z:9.73 [[ 9.07513299e-01 -4.12956417e-01 -7.67242515e-02 1.12044799e+02] [ 4.11443332e-01 9.10750658e-01 -3.53217159e-02 2.77209615e+01] [ 8.44629917e-02 4.87245210e-04 9.96426498e-01 9.72803966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:27.74, Z:9.74 [[ 9.07038250e-01 -4.13999157e-01 -7.67223011e-02 1.12100285e+02] [ 4.12489437e-01 9.10277179e-01 -3.53259518e-02 2.77391066e+01] [ 8.44634740e-02 3.94850723e-04 9.96426498e-01 9.74447487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:27.76, Z:9.76 [[ 9.05310670e-01 -4.17763911e-01 -7.67196595e-02 1.12154190e+02] [ 4.16267173e-01 9.08555619e-01 -3.53316877e-02 2.77574376e+01] [ 8.44643818e-02 5.02780274e-05 9.96426498e-01 9.75684608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:27.78, Z:9.77 [[ 9.00230948e-01 -4.28601586e-01 -7.67132423e-02 1.12208580e+02] [ 4.27142723e-01 9.03493100e-01 -3.53456154e-02 2.77775359e+01] [ 8.44590719e-02 -9.48286330e-04 9.96426498e-01 9.76791698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:27.80, Z:9.77 [[ 8.93593116e-01 -4.42276149e-01 -7.67016996e-02 1.12261767e+02] [ 4.40865042e-01 8.96876208e-01 -3.53706460e-02 2.78000978e+01] [ 8.44355226e-02 -2.20813221e-03 9.96426498e-01 9.76821328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:27.82, Z:9.76 [[ 8.93514442e-01 -4.42437374e-01 -7.66884124e-02 1.12315635e+02] [ 4.41024391e-01 8.96796726e-01 -3.53994313e-02 2.78247303e+01] [ 8.44359485e-02 -2.19155724e-03 9.96426499e-01 9.76432643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:112.37, Y:27.85, Z:9.77 [[ 8.97213615e-01 -4.34888945e-01 -7.66768177e-02 1.12367307e+02] [ 4.33446197e-01 9.00482924e-01 -3.54245281e-02 2.78533529e+01] [ 8.44519007e-02 -1.45190613e-03 9.96426499e-01 9.76809392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:27.88, Z:9.78 [[ 9.00904734e-01 -4.27192146e-01 -7.66650507e-02 1.12417763e+02] [ 4.25719297e-01 9.04160594e-01 -3.54499759e-02 2.78811331e+01] [ 8.44614690e-02 -7.00740399e-04 9.96426500e-01 9.77528409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:27.91, Z:9.78 [[ 9.06287082e-01 -4.15652693e-01 -7.66587438e-02 1.12468032e+02] [ 4.14137234e-01 9.09523328e-01 -3.54636091e-02 2.79099012e+01] [ 8.44634604e-02 3.92970740e-04 9.96426500e-01 9.77768224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:27.94, Z:9.78 [[ 9.10675200e-01 -4.05950890e-01 -7.66456410e-02 1.12520031e+02] [ 4.04398576e-01 9.13893931e-01 -3.54919050e-02 2.79354261e+01] [ 8.44539565e-02 1.32620958e-03 9.96426500e-01 9.78013836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.57, Y:27.96, Z:9.79 [[ 9.13706290e-01 -3.99084369e-01 -7.66321148e-02 1.12572586e+02] [ 3.97505425e-01 9.16912040e-01 -3.55210860e-02 2.79595581e+01] [ 8.44408189e-02 1.99415834e-03 9.96426501e-01 9.78843609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.63, Y:27.98, Z:9.80 [[ 9.15654086e-01 -3.94597477e-01 -7.66187036e-02 1.12626422e+02] [ 3.93000410e-01 9.18850845e-01 -3.55499905e-02 2.79806106e+01] [ 8.44290971e-02 2.44031213e-03 9.96426501e-01 9.80132132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:28.00, Z:9.81 [[ 9.16490744e-01 -3.92652651e-01 -7.66068629e-02 1.12682273e+02] [ 3.91046672e-01 9.19683035e-01 -3.55754878e-02 2.79972827e+01] [ 8.44228418e-02 2.64774648e-03 9.96426502e-01 9.81183177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:28.01, Z:9.81 [[ 9.18466628e-01 -3.88010728e-01 -7.65945722e-02 1.12739392e+02] [ 3.86386417e-01 9.21649629e-01 -3.56019303e-02 2.80127505e+01] [ 8.44072900e-02 3.10408249e-03 9.96426502e-01 9.81477685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.80, Y:28.02, Z:9.81 [[ 9.20316491e-01 -3.83605150e-01 -7.65809750e-02 1.12798839e+02] [ 3.81963178e-01 9.23490418e-01 -3.56311544e-02 2.80234234e+01] [ 8.43900910e-02 3.54082643e-03 9.96426503e-01 9.80595654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:112.86, Y:28.04, Z:9.81 [[ 9.20247059e-01 -3.83772507e-01 -7.65768398e-02 1.12857803e+02] [ 3.82130375e-01 9.23420903e-01 -3.56400395e-02 2.80365628e+01] [ 8.43903219e-02 3.53530501e-03 9.96426503e-01 9.80515331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.92, Y:28.04, Z:9.82 [[ 9.15743016e-01 -3.94399819e-01 -7.65735674e-02 1.12918610e+02] [ 3.92793950e-01 9.18935362e-01 -3.56470690e-02 2.80437229e+01] [ 8.44253564e-02 2.56592051e-03 9.96426503e-01 9.81716741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.98, Y:28.06, Z:9.83 [[ 9.11474191e-01 -4.04169690e-01 -7.65614864e-02 1.12975617e+02] [ 4.02595873e-01 9.14682459e-01 -3.56729972e-02 2.80567760e+01] [ 8.44473929e-02 1.69167782e-03 9.96426503e-01 9.82854517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:28.07, Z:9.83 [[ 9.08061153e-01 -4.11781411e-01 -7.65572484e-02 1.13034131e+02] [ 4.10233725e-01 9.11282107e-01 -3.56820900e-02 2.80707093e+01] [ 8.44584721e-02 9.95154572e-04 9.96426503e-01 9.83004719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:28.09, Z:9.84 [[ 9.07260940e-01 -4.13543732e-01 -7.65452001e-02 1.13091096e+02] [ 4.12000124e-01 9.10483851e-01 -3.57079175e-02 2.80869488e+01] [ 8.44599540e-02 8.59766945e-04 9.96426504e-01 9.84111456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:28.10, Z:9.85 [[ 9.06122427e-01 -4.16034621e-01 -7.65332708e-02 1.13147711e+02] [ 4.14497714e-01 9.09348538e-01 -3.57334676e-02 2.81044610e+01] [ 8.44617775e-02 6.56030561e-04 9.96426504e-01 9.84920807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.20, Y:28.12, Z:9.86 [[ 9.05297620e-01 -4.17828521e-01 -7.65215390e-02 1.13202218e+02] [ 4.16295885e-01 9.08525762e-01 -3.57585730e-02 2.81243201e+01] [ 8.44627412e-02 5.16549260e-04 9.96426504e-01 9.85667921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.26, Y:28.15, Z:9.87 [[ 9.06304894e-01 -4.15639885e-01 -7.65174865e-02 1.13256495e+02] [ 4.14098722e-01 9.09528973e-01 -3.57672426e-02 2.81454528e+01] [ 8.44611635e-02 7.30233610e-04 9.96426504e-01 9.87201945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:113.31, Y:28.16, Z:9.87 [[ 9.04802019e-01 -4.18903461e-01 -7.65061842e-02 1.13312450e+02] [ 4.17371884e-01 9.08030663e-01 -3.57914020e-02 2.81627711e+01] [ 8.44631034e-02 4.52602513e-04 9.96426505e-01 9.87192221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:113.36, Y:28.19, Z:9.87 [[ 9.06830313e-01 -4.14496861e-01 -7.64927150e-02 1.13364031e+02] [ 4.12947170e-01 9.10050301e-01 -3.58201651e-02 2.81923285e+01] [ 8.44595643e-02 8.95361338e-04 9.96426505e-01 9.87182927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:28.22, Z:9.88 [[ 9.13430435e-01 -3.99744372e-01 -7.64805718e-02 1.13414861e+02] [ 3.98140527e-01 9.16623794e-01 -3.58460738e-02 2.82202075e+01] [ 8.44331781e-02 2.29287962e-03 9.96426506e-01 9.87661561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:28.25, Z:9.88 [[ 9.19852203e-01 -3.84737955e-01 -7.64763438e-02 1.13466380e+02] [ 3.83081302e-01 9.23018488e-01 -3.58550917e-02 2.82499993e+01] [ 8.43838939e-02 3.68472776e-03 9.96426506e-01 9.87906392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:28.28, Z:9.88 [[ 9.22921121e-01 -3.77318098e-01 -7.64699787e-02 1.13518499e+02] [ 3.75634880e-01 9.26073364e-01 -3.58686617e-02 2.82754564e+01] [ 8.43507057e-02 4.37915423e-03 9.96426506e-01 9.88295708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.57, Y:28.29, Z:9.89 [[ 9.22447785e-01 -3.78476529e-01 -7.64565330e-02 1.13573418e+02] [ 3.76794904e-01 9.25600877e-01 -3.58972994e-02 2.82938276e+01] [ 8.43545194e-02 4.30495229e-03 9.96426506e-01 9.89019295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.63, Y:28.31, Z:9.89 [[ 9.17945276e-01 -3.89272331e-01 -7.64429355e-02 1.13629317e+02] [ 3.87625408e-01 9.21116632e-01 -3.59262320e-02 2.83110205e+01] [ 8.43979474e-02 3.34709086e-03 9.96426507e-01 9.89426080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:113.69, Y:28.32, Z:9.90 [[ 9.12115531e-01 -4.02743553e-01 -7.64387875e-02 1.13688031e+02] [ 4.01142756e-01 9.15310418e-01 -3.59350554e-02 2.83239102e+01] [ 8.44378304e-02 2.11405625e-03 9.96426507e-01 9.89677204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:113.74, Y:28.34, Z:9.90 [[ 9.10368654e-01 -4.06678947e-01 -7.64273964e-02 1.13744670e+02] [ 4.05089931e-01 9.13569417e-01 -3.59592661e-02 2.83405386e+01] [ 8.44456084e-02 1.77621997e-03 9.96426507e-01 9.90440907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:113.80, Y:28.36, Z:9.91 [[ 9.07927635e-01 -4.12101918e-01 -7.64160917e-02 1.13799874e+02] [ 4.10530002e-01 9.11136829e-01 -3.59832733e-02 2.83579841e+01] [ 8.44542915e-02 1.29910997e-03 9.96426508e-01 9.91097486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:113.85, Y:28.38, Z:9.92 [[ 9.08427929e-01 -4.11000419e-01 -7.64025746e-02 1.13854048e+02] [ 4.09422200e-01 9.11634028e-01 -3.60119513e-02 2.83793078e+01] [ 8.44521139e-02 1.43335213e-03 9.96426508e-01 9.91542939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:28.40, Z:9.92 [[ 9.12354325e-01 -4.02209973e-01 -7.63984462e-02 1.13905601e+02] [ 4.00600139e-01 9.15544667e-01 -3.60207073e-02 2.84044577e+01] [ 8.44340777e-02 2.25841993e-03 9.96426508e-01 9.92227128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:28.43, Z:9.93 [[ 9.17796185e-01 -3.89635186e-01 -7.63844605e-02 1.13959083e+02] [ 3.87979203e-01 9.20962817e-01 -3.60503407e-02 2.84283944e+01] [ 8.43937291e-02 3.45128306e-03 9.96426509e-01 9.93011087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:114.01, Y:28.45, Z:9.93 [[ 9.21604234e-01 -3.80542873e-01 -7.63725002e-02 1.14014720e+02] [ 3.78853574e-01 9.24753219e-01 -3.60756609e-02 2.84500732e+01] [ 8.43540510e-02 4.31348708e-03 9.96426509e-01 9.92919792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937105681 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:28.47, Z:9.93 [[ 9.21185009e-01 -3.81558924e-01 -7.63607610e-02 1.14070801e+02] [ 3.79871047e-01 9.24334757e-01 -3.61004921e-02 2.84668288e+01] [ 8.43573703e-02 4.24798989e-03 9.96426509e-01 9.93042378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997105681 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:28.48, Z:9.93 [[ 9.20260732e-01 -3.83785480e-01 -7.63471646e-02 1.14130259e+02] [ 3.82102848e-01 9.23413284e-01 -3.61292237e-02 2.84792157e+01] [ 8.43658574e-02 4.07583677e-03 9.96426510e-01 9.93496651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057105681 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:114.18, Y:28.50, Z:9.94 [[ 9.18661180e-01 -3.87601132e-01 -7.63347797e-02 1.14182424e+02] [ 3.85929429e-01 9.21819540e-01 -3.61553720e-02 2.85034428e+01] [ 8.43807546e-02 3.75469874e-03 9.96426510e-01 9.93893076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117105681 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:28.52, Z:9.95 [[ 9.17129483e-01 -3.91212431e-01 -7.63304951e-02 1.14239580e+02] [ 3.89552416e-01 9.20294002e-01 -3.61644152e-02 2.85182660e+01] [ 8.43944656e-02 3.43272261e-03 9.96426510e-01 9.94622436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177105681 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:28.53, Z:9.95 [[ 9.11687476e-01 -4.03734627e-01 -7.63170779e-02 1.14296849e+02] [ 4.02115736e-01 9.14873228e-01 -3.61927073e-02 2.85341735e+01] [ 8.44327006e-02 2.30814010e-03 9.96426511e-01 9.95379986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:28.55, Z:9.96 [[ 9.08004858e-01 -4.11952236e-01 -7.63055254e-02 1.14352624e+02] [ 4.10360138e-01 9.11204084e-01 -3.62170472e-02 2.85536940e+01] [ 8.44496000e-02 1.57250883e-03 9.96426511e-01 9.95830120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:114.41, Y:28.58, Z:9.96 [[ 9.06807247e-01 -4.14584033e-01 -7.62934846e-02 1.14407692e+02] [ 4.12999088e-01 9.10010023e-01 -3.62423943e-02 2.85772806e+01] [ 8.44533537e-02 1.35572627e-03 9.96426512e-01 9.95567704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357105681 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:28.60, Z:9.95 [[ 9.07048259e-01 -4.14058522e-01 -7.62823451e-02 1.14461235e+02] [ 4.12469752e-01 9.10249138e-01 -3.62658255e-02 2.86033041e+01] [ 8.44521130e-02 1.43069395e-03 9.96426512e-01 9.95477349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:28.63, Z:9.97 [[ 9.06949329e-01 -4.14277360e-01 -7.62704599e-02 1.14513885e+02] [ 4.12687262e-01 9.10149549e-01 -3.62908040e-02 2.86269567e+01] [ 8.44519831e-02 1.43807310e-03 9.96426512e-01 9.96760142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:28.65, Z:9.98 [[ 9.02271189e-01 -4.24371730e-01 -7.62583471e-02 1.14565373e+02] [ 4.22815291e-01 9.05487913e-01 -3.63162390e-02 2.86511204e+01] [ 8.44625967e-02 5.23900923e-04 9.96426513e-01 9.98486677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537105681 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:28.68, Z:10.00 [[ 9.00219250e-01 -4.28707770e-01 -7.62558156e-02 1.14616212e+02] [ 4.27166375e-01 9.03443209e-01 -3.63215539e-02 2.86777311e+01] [ 8.44641311e-02 1.23441743e-04 9.96426513e-01 9.99970494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:114.67, Y:28.71, Z:10.00 [[ 8.98097134e-01 -4.33136926e-01 -7.62492104e-02 1.14665772e+02] [ 4.31610254e-01 9.01328090e-01 -3.63354147e-02 2.87097905e+01] [ 8.44637651e-02 -2.77209281e-04 9.96426513e-01 1.00013892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657105681 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:28.75, Z:10.00 [[ 8.99246879e-01 -4.30747268e-01 -7.62354335e-02 1.14711826e+02] [ 4.29209561e-01 9.02472598e-01 -3.63642972e-02 2.87481650e+01] [ 8.44642115e-02 -2.04961598e-05 9.96426513e-01 1.00000577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:28.78, Z:10.00 [[ 9.00652917e-01 -4.27800333e-01 -7.62312127e-02 1.14761584e+02] [ 4.26251323e-01 9.03873223e-01 -3.63731433e-02 2.87822050e+01] [ 8.44637948e-02 2.65922361e-04 9.96426513e-01 9.99742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:28.81, Z:10.00 [[ 8.99817543e-01 -4.29556723e-01 -7.62194907e-02 1.14811468e+02] [ 4.28011919e-01 9.03039869e-01 -3.63976900e-02 2.88144198e+01] [ 8.44641114e-02 1.28429511e-04 9.96426514e-01 1.00032427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837105681 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:114.86, Y:28.84, Z:10.01 [[ 8.95161046e-01 -4.39180161e-01 -7.62068767e-02 1.14860854e+02] [ 4.37667750e-01 8.98398702e-01 -3.64240813e-02 2.88426111e+01] [ 8.44608930e-02 -7.47873537e-04 9.96426514e-01 1.00131990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:28.87, Z:10.02 [[ 8.94090162e-01 -4.41357114e-01 -7.62015818e-02 1.14911025e+02] [ 4.39851642e-01 8.97331050e-01 -3.64351553e-02 2.88745735e+01] [ 8.44589603e-02 -9.41077005e-04 9.96426514e-01 1.00155060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:28.91, Z:10.02 [[ 8.97022773e-01 -4.35368037e-01 -7.61893431e-02 1.14960314e+02] [ 4.33838753e-01 9.00252493e-01 -3.64607297e-02 2.89083296e+01] [ 8.44634824e-02 -3.47784693e-04 9.96426515e-01 1.00204910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:28.95, Z:10.02 [[ 8.99991887e-01 -4.29198887e-01 -7.61768910e-02 1.15006552e+02] [ 4.27645263e-01 9.03209969e-01 -3.64867271e-02 2.89460832e+01] [ 8.44637900e-02 2.61071751e-04 9.96426515e-01 1.00245829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:28.98, Z:10.03 [[ 9.02340214e-01 -4.24240357e-01 -7.61725461e-02 1.15054703e+02] [ 4.22668285e-01 9.05549324e-01 -3.64957956e-02 2.89813713e+01] [ 8.44609870e-02 7.35904615e-04 9.96426515e-01 1.00327503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:115.10, Y:29.01, Z:10.04 [[ 9.04823395e-01 -4.18920237e-01 -7.61607433e-02 1.15104732e+02] [ 4.17327227e-01 9.08022161e-01 -3.65204096e-02 2.90126231e+01] [ 8.44547814e-02 1.26056923e-03 9.96426516e-01 1.00400704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.16, Y:29.04, Z:10.05 [[ 9.03870648e-01 -4.20974099e-01 -7.61489291e-02 1.15157118e+02] [ 4.19386283e-01 9.07071996e-01 -3.65450270e-02 2.90385540e+01] [ 8.44570710e-02 1.09616088e-03 9.96426516e-01 1.00492630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.21, Y:29.06, Z:10.06 [[ 8.99184123e-01 -4.30895702e-01 -7.61367646e-02 1.15210558e+02] [ 4.29341068e-01 9.02401716e-01 -3.65703527e-02 2.90610129e+01] [ 8.44639548e-02 1.94840656e-04 9.96426516e-01 1.00624424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:29.09, Z:10.07 [[ 8.95082896e-01 -4.39353684e-01 -7.61245623e-02 1.15261402e+02] [ 4.37827295e-01 8.98313983e-01 -3.65957354e-02 2.90870190e+01] [ 8.44622299e-02 -5.73194319e-04 9.96426517e-01 1.00742270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:29.12, Z:10.07 [[ 9.01465871e-01 -4.26106180e-01 -7.61104930e-02 1.15308483e+02] [ 4.24529840e-01 9.04672884e-01 -3.66249730e-02 2.91241795e+01] [ 8.44612265e-02 7.04987760e-04 9.96426517e-01 1.00744206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:29.15, Z:10.07 [[ 9.08780570e-01 -4.10277018e-01 -7.60962825e-02 1.15359026e+02] [ 4.08642369e-01 9.11958258e-01 -3.66544747e-02 2.91535910e+01] [ 8.44351218e-02 2.21470920e-03 9.96426518e-01 1.00716883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.41, Y:29.18, Z:10.06 [[ 9.12499535e-01 -4.01938562e-01 -7.60919853e-02 1.15412913e+02] [ 4.00274143e-01 9.15661731e-01 -3.66633931e-02 2.91805265e+01] [ 8.44109505e-02 2.99767497e-03 9.96426518e-01 1.00649651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.47, Y:29.20, Z:10.07 [[ 9.09720636e-01 -4.08190241e-01 -7.60860825e-02 1.15469346e+02] [ 4.06546535e-01 9.12893648e-01 -3.66756389e-02 2.91992266e+01] [ 8.44291393e-02 2.43205235e-03 9.96426518e-01 1.00650059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:29.22, Z:10.07 [[ 9.05706700e-01 -4.17022910e-01 -7.60740845e-02 1.15525238e+02] [ 4.15408068e-01 9.08894499e-01 -3.67005088e-02 2.92185099e+01] [ 8.44482699e-02 1.63810823e-03 9.96426518e-01 1.00707939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:115.58, Y:29.24, Z:10.08 [[ 9.04980260e-01 -4.18599265e-01 -7.60617153e-02 1.15577404e+02] [ 4.16987824e-01 9.08169778e-01 -3.67261262e-02 2.92419218e+01] [ 8.44504806e-02 1.51961015e-03 9.96426519e-01 1.00821418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.63, Y:29.27, Z:10.09 [[ 9.03749520e-01 -4.21250605e-01 -7.60574274e-02 1.15629709e+02] [ 4.19647775e-01 9.06943374e-01 -3.67350040e-02 2.92675804e+01] [ 8.44544225e-02 1.28191210e-03 9.96426519e-01 1.00918429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:29.29, Z:10.10 [[ 9.01725522e-01 -4.25568097e-01 -7.60452365e-02 1.15681922e+02] [ 4.23978433e-01 9.04925950e-01 -3.67602232e-02 2.92915432e+01] [ 8.44592861e-02 9.06091204e-04 9.96426519e-01 1.00961188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:29.32, Z:10.10 [[ 8.96797957e-01 -4.35856862e-01 -7.60409169e-02 1.15734398e+02] [ 4.34303161e-01 9.00015996e-01 -3.67691565e-02 2.93181990e+01] [ 8.44641307e-02 -5.03061665e-05 9.96426519e-01 1.00967788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:29.34, Z:10.10 [[ 8.88304939e-01 -4.52917145e-01 -7.60289097e-02 1.15787662e+02] [ 4.51423109e-01 8.91551109e-01 -3.67939675e-02 2.93433436e+01] [ 8.44482775e-02 -1.63694374e-03 9.96426520e-01 1.01024676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.84, Y:29.37, Z:10.11 [[ 8.86174187e-01 -4.57074101e-01 -7.60169546e-02 1.15839450e+02] [ 4.55593175e-01 8.89426358e-01 -3.68186505e-02 2.93689668e+01] [ 8.44403346e-02 -2.00506796e-03 9.96426520e-01 1.01081049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.89, Y:29.40, Z:10.12 [[ 8.80491798e-01 -4.67927618e-01 -7.60127479e-02 1.15888222e+02] [ 4.66486013e-01 8.83761589e-01 -3.68273332e-02 2.93998018e+01] [ 8.44096732e-02 -3.03271891e-03 9.96426520e-01 1.01150017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.94, Y:29.44, Z:10.11 [[ 8.79485473e-01 -4.69818657e-01 -7.59982398e-02 1.15935459e+02] [ 4.68381502e-01 8.82757222e-01 -3.68572484e-02 2.94367465e+01] [ 8.44042180e-02 -3.18075514e-03 9.96426521e-01 1.01135550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.98, Y:29.47, Z:10.12 [[ 8.79499949e-01 -4.69793568e-01 -7.59858065e-02 1.15982846e+02] [ 4.68354109e-01 8.82770685e-01 -3.68828636e-02 2.94725716e+01] [ 8.44053745e-02 -3.14978810e-03 9.96426521e-01 1.01211899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.03, Y:29.51, Z:10.12 [[ 8.79619670e-01 -4.69571337e-01 -7.59736507e-02 1.16028674e+02] [ 4.68128894e-01 8.82889091e-01 -3.69078859e-02 2.95124761e+01] [ 8.44071927e-02 -3.10055865e-03 9.96426521e-01 1.01237644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.07, Y:29.56, Z:10.13 [[ 8.81649550e-01 -4.65750972e-01 -7.59611888e-02 1.16072009e+02] [ 4.64292155e-01 8.84911696e-01 -3.69335164e-02 2.95552004e+01] [ 8.44207656e-02 -2.70576586e-03 9.96426522e-01 1.01257487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.12, Y:29.59, Z:10.14 [[ 8.86124831e-01 -4.57181429e-01 -7.59468539e-02 1.16116872e+02] [ 4.55688530e-01 8.89371521e-01 -3.69629701e-02 2.95932104e+01] [ 8.44437524e-02 -1.85430454e-03 9.96426522e-01 1.01389272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:29.63, Z:10.14 [[ 8.91804591e-01 -4.46001466e-01 -7.59425026e-02 1.16162115e+02] [ 4.44467094e-01 8.95031888e-01 -3.69719079e-02 2.96333101e+01] [ 8.44604866e-02 -7.82226270e-04 9.96426522e-01 1.01437818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:29.67, Z:10.15 [[ 8.99267964e-01 -4.30757430e-01 -7.59286885e-02 1.16208890e+02] [ 4.29165955e-01 9.02467486e-01 -3.70002561e-02 2.96712560e+01] [ 8.44613079e-02 6.87136808e-04 9.96426523e-01 1.01507461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.26, Y:29.71, Z:10.15 [[ 9.04068225e-01 -4.20591603e-01 -7.59167122e-02 1.16255405e+02] [ 4.18962096e-01 9.07248547e-01 -3.70248126e-02 2.97076001e+01] [ 8.44476521e-02 1.66673177e-03 9.96426523e-01 1.01534973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:116.31, Y:29.73, Z:10.14 [[ 9.08845599e-01 -4.10168878e-01 -7.59023681e-02 1.16307646e+02] [ 4.08500460e-01 9.12005680e-01 -3.70541953e-02 2.97349382e+01] [ 8.44218686e-02 2.67039005e-03 9.96426524e-01 1.01435736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:29.76, Z:10.15 [[ 9.09322060e-01 -4.09114488e-01 -7.58862735e-02 1.16358491e+02] [ 4.07439662e-01 9.12478749e-01 -3.70871278e-02 2.97621406e+01] [ 8.44174932e-02 2.80506583e-03 9.96426524e-01 1.01483931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:29.78, Z:10.15 [[ 9.06291649e-01 -4.15785357e-01 -7.58813846e-02 1.16415014e+02] [ 4.14132935e-01 9.09460123e-01 -3.70971279e-02 2.97827188e+01] [ 8.44355359e-02 2.19583670e-03 9.96426524e-01 1.01525288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:29.80, Z:10.17 [[ 9.01739785e-01 -4.25567458e-01 -7.58794984e-02 1.16471956e+02] [ 4.23949093e-01 9.04925789e-01 -3.71009855e-02 2.97983250e+01] [ 8.44542871e-02 1.28639018e-03 9.96426524e-01 1.01672105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:29.82, Z:10.17 [[ 8.98989515e-01 -4.31349287e-01 -7.58659607e-02 1.16526541e+02] [ 4.29749079e-01 9.02184678e-01 -3.71286476e-02 2.98189695e+01] [ 8.44605230e-02 7.74938099e-04 9.96426525e-01 1.01737842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:29.84, Z:10.18 [[ 8.97087061e-01 -4.35294360e-01 -7.58526549e-02 1.16581999e+02] [ 4.33705908e-01 9.00288082e-01 -3.71558112e-02 2.98380641e+01] [ 8.44629563e-02 4.34252891e-04 9.96426525e-01 1.01768072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:29.86, Z:10.18 [[ 8.94369921e-01 -4.40852744e-01 -7.58373446e-02 1.16636508e+02] [ 4.39281538e-01 8.97579442e-01 -3.71870344e-02 2.98598620e+01] [ 8.44640476e-02 -5.49803870e-05 9.96426526e-01 1.01843887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:29.88, Z:10.19 [[ 8.93625489e-01 -4.42362048e-01 -7.58241677e-02 1.16690967e+02] [ 4.40793984e-01 8.96836546e-01 -3.72138827e-02 2.98817923e+01] [ 8.44638940e-02 -1.67562836e-04 9.96426526e-01 1.01899366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:29.91, Z:10.20 [[ 8.96716650e-01 -4.36064151e-01 -7.58109896e-02 1.16742295e+02] [ 4.34471267e-01 8.99915467e-01 -3.72407093e-02 2.99084739e+01] [ 8.44628204e-02 4.56667381e-04 9.96426527e-01 1.01966740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:29.94, Z:10.20 [[ 9.02288503e-01 -4.24417761e-01 -7.57959235e-02 1.16794619e+02] [ 4.22781022e-01 9.05465104e-01 -3.72713483e-02 2.99358243e+01] [ 8.44491859e-02 1.58443102e-03 9.96426527e-01 1.02010319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:29.96, Z:10.21 [[ 9.05249836e-01 -4.18066638e-01 -7.57827168e-02 1.16847284e+02] [ 4.16405373e-01 9.08413678e-01 -3.72981819e-02 2.99588851e+01] [ 8.44351820e-02 2.20784268e-03 9.96426528e-01 1.02063887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.90, Y:29.98, Z:10.21 [[ 9.04145205e-01 -4.20452979e-01 -7.57676800e-02 1.16899671e+02] [ 4.18797508e-01 9.07312083e-01 -3.73287028e-02 2.99846282e+01] [ 8.44398958e-02 2.01925207e-03 9.96426528e-01 1.02079694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.96, Y:30.00, Z:10.22 [[ 8.99903900e-01 -4.29456559e-01 -7.57630177e-02 1.16956256e+02] [ 4.27831984e-01 9.03086737e-01 -3.73381631e-02 2.99990197e+01] [ 8.44556955e-02 1.18691646e-03 9.96426529e-01 1.02197415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.01, Y:30.02, Z:10.23 [[ 8.97406710e-01 -4.34651819e-01 -7.57561433e-02 1.17010429e+02] [ 4.33044495e-01 9.00598293e-01 -3.73521055e-02 3.00207958e+01] [ 8.44610140e-02 7.14249259e-04 9.96426529e-01 1.02289864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:117.06, Y:30.05, Z:10.23 [[ 8.99804945e-01 -4.29667297e-01 -7.57434774e-02 1.17064739e+02] [ 4.28040133e-01 9.02986460e-01 -3.73777723e-02 3.00450842e+01] [ 8.44553408e-02 1.21145624e-03 9.96426529e-01 1.02293486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.12, Y:30.06, Z:10.24 [[ 9.07990780e-01 -4.12089456e-01 -7.57299371e-02 1.17121556e+02] [ 4.10398453e-01 9.11138827e-01 -3.74051857e-02 3.00589017e+01] [ 8.44147687e-02 2.88411478e-03 9.96426530e-01 1.02359883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.18, Y:30.08, Z:10.23 [[ 9.12044477e-01 -4.03039575e-01 -7.57229985e-02 1.17176940e+02] [ 4.01316187e-01 9.15174912e-01 -3.74192270e-02 3.00822010e+01] [ 8.43812179e-02 3.73913437e-03 9.96426530e-01 1.02303974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:30.10, Z:10.23 [[ 9.11693576e-01 -4.03834888e-01 -7.57113442e-02 1.17234716e+02] [ 4.02112278e-01 9.14824439e-01 -3.74427926e-02 3.00964846e+01] [ 8.43832939e-02 3.69189242e-03 9.96426530e-01 1.02276414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:30.11, Z:10.24 [[ 9.10302535e-01 -4.06961626e-01 -7.57068693e-02 1.17293056e+02] [ 4.05249021e-01 9.13438882e-01 -3.74518385e-02 3.01104135e+01] [ 8.43950591e-02 3.41236888e-03 9.96426530e-01 1.02384065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:30.12, Z:10.25 [[ 9.08775126e-01 -4.10363322e-01 -7.56948768e-02 1.17350798e+02] [ 4.08660445e-01 9.11916765e-01 -3.74760612e-02 3.01233412e+01] [ 8.44062281e-02 3.12381023e-03 9.96426530e-01 1.02454582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:30.14, Z:10.25 [[ 9.07435350e-01 -4.13318363e-01 -7.56902669e-02 1.17407868e+02] [ 4.11624942e-01 9.10582096e-01 -3.74853696e-02 3.01404970e+01] [ 8.44155935e-02 2.85954769e-03 9.96426530e-01 1.02505918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.46, Y:30.16, Z:10.26 [[ 9.04210820e-01 -4.20327950e-01 -7.56783125e-02 1.17464641e+02] [ 4.18656913e-01 9.07369510e-01 -3.75094885e-02 3.01559717e+01] [ 8.44344797e-02 2.23323671e-03 9.96426531e-01 1.02601100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:30.18, Z:10.27 [[ 9.01270617e-01 -4.26596696e-01 -7.56738650e-02 1.17518767e+02] [ 4.24946881e-01 9.04440442e-01 -3.75184590e-02 3.01762718e+01] [ 8.44477546e-02 1.65691174e-03 9.96426531e-01 1.02685025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:30.19, Z:10.28 [[ 8.97990512e-01 -4.33459536e-01 -7.56694924e-02 1.17574616e+02] [ 4.31833206e-01 9.01172450e-01 -3.75272758e-02 3.01946963e+01] [ 8.44578175e-02 1.02253806e-03 9.96426531e-01 1.02772752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017105681 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:117.63, Y:30.22, Z:10.28 [[ 8.99246613e-01 -4.30849837e-01 -7.56567632e-02 1.17629763e+02] [ 4.29212117e-01 9.02422704e-01 -3.75529211e-02 3.02173224e+01] [ 8.44540508e-02 1.29653757e-03 9.96426531e-01 1.02757433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:30.24, Z:10.28 [[ 9.01556615e-01 -4.25997194e-01 -7.56443017e-02 1.17682731e+02] [ 4.24340277e-01 9.04722733e-01 -3.75780062e-02 3.02423484e+01] [ 8.44452445e-02 1.77977613e-03 9.96426532e-01 1.02806747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:30.27, Z:10.28 [[ 9.07164391e-01 -4.13923592e-01 -7.56308655e-02 1.17735018e+02] [ 4.12222305e-01 9.10306890e-01 -3.76050290e-02 3.02700154e+01] [ 8.44129066e-02 2.93721359e-03 9.96426532e-01 1.02846109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:117.79, Y:30.30, Z:10.29 [[ 9.10028920e-01 -4.07589542e-01 -7.56183257e-02 1.17787002e+02] [ 4.05864300e-01 9.13158330e-01 -3.76302279e-02 3.02951765e+01] [ 8.43891914e-02 3.55381679e-03 9.96426533e-01 1.02870545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:30.31, Z:10.29 [[ 9.11432585e-01 -4.04443741e-01 -7.56035896e-02 1.17842386e+02] [ 4.02705253e-01 9.14554656e-01 -3.76598114e-02 3.03129924e+01] [ 8.43748898e-02 3.87841663e-03 9.96426533e-01 1.02893293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317105681 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:117.90, Y:30.33, Z:10.29 [[ 9.10062974e-01 -4.07517085e-01 -7.55989968e-02 1.17898345e+02] [ 4.05788377e-01 9.13190471e-01 -3.76690288e-02 3.03324734e+01] [ 8.43870563e-02 3.60399420e-03 9.96426533e-01 1.02948208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:30.35, Z:10.30 [[ 9.12396123e-01 -4.02268554e-01 -7.55865411e-02 1.17956681e+02] [ 4.00519799e-01 9.15512454e-01 -3.76940058e-02 3.03452070e+01] [ 8.43635329e-02 4.11795849e-03 9.96426534e-01 1.02974945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:118.01, Y:30.37, Z:10.31 [[ 9.13892495e-01 -3.98859891e-01 -7.55731071e-02 1.18010778e+02] [ 3.97097297e-01 9.17001019e-01 -3.77209207e-02 3.03654383e+01] [ 8.43459785e-02 4.46298982e-03 9.96426534e-01 1.03102756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:118.07, Y:30.38, Z:10.30 [[ 9.16519398e-01 -3.92787554e-01 -7.55654040e-02 1.18067048e+02] [ 3.91003107e-01 9.19615430e-01 -3.77363459e-02 3.03845211e+01] [ 8.43134784e-02 5.03978523e-03 9.96426534e-01 1.02951628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557105681 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:118.12, Y:30.40, Z:10.30 [[ 9.14933265e-01 -3.96469405e-01 -7.55587942e-02 1.18124961e+02] [ 3.94696333e-01 9.18035824e-01 -3.77495759e-02 3.03979227e+01] [ 8.43322318e-02 4.71556377e-03 9.96426534e-01 1.03007457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:118.19, Y:30.41, Z:10.30 [[ 9.15802955e-01 -3.94459093e-01 -7.55444957e-02 1.18185717e+02] [ 3.92676863e-01 9.18900262e-01 -3.77781684e-02 3.04085500e+01] [ 8.43197990e-02 4.93278266e-03 9.96426535e-01 1.03011054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:118.24, Y:30.43, Z:10.31 [[ 9.13239388e-01 -4.00360455e-01 -7.55336044e-02 1.18240891e+02] [ 3.98596455e-01 9.16347113e-01 -3.77999321e-02 3.04260999e+01] [ 8.43485983e-02 4.41296000e-03 9.96426535e-01 1.03089202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:118.30, Y:30.44, Z:10.33 [[ 9.09594989e-01 -4.08575308e-01 -7.55193573e-02 1.18296658e+02] [ 4.06837033e-01 9.12717176e-01 -3.78283745e-02 3.04439693e+01] [ 8.43835543e-02 3.68442865e-03 9.96426536e-01 1.03291690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:30.46, Z:10.34 [[ 9.04492093e-01 -4.19751502e-01 -7.55164226e-02 1.18350900e+02] [ 4.18051340e-01 9.07635196e-01 -3.78342323e-02 3.04638493e+01] [ 8.44223388e-02 2.65102232e-03 9.96426536e-01 1.03360842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:30.49, Z:10.33 [[ 8.98386583e-01 -4.32665549e-01 -7.55120596e-02 1.18404564e+02] [ 4.31009855e-01 9.01553336e-01 -3.78429381e-02 3.04891051e+01] [ 8.44514848e-02 1.45114601e-03 9.96426536e-01 1.03291380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:118.46, Y:30.51, Z:10.34 [[ 8.94738973e-01 -4.40161538e-01 -7.54982876e-02 1.18456046e+02] [ 4.38530061e-01 8.97918269e-01 -3.78703940e-02 3.05135146e+01] [ 8.44603826e-02 7.75848762e-04 9.96426536e-01 1.03428862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:30.54, Z:10.35 [[ 8.88932127e-01 -4.51775878e-01 -7.54866219e-02 1.18507161e+02] [ 4.50183968e-01 8.92131418e-01 -3.78936329e-02 3.05412862e+01] [ 8.44634164e-02 -2.97999349e-04 9.96426536e-01 1.03527071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037105681 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:30.57, Z:10.35 [[ 8.81359182e-01 -4.66379250e-01 -7.54744104e-02 1.18557922e+02] [ 4.64838256e-01 8.84583306e-01 -3.79179396e-02 3.05710606e+01] [ 8.44475438e-02 -1.66406899e-03 9.96426537e-01 1.03533407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097105681 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:118.61, Y:30.60, Z:10.36 [[ 8.78023894e-01 -4.72630765e-01 -7.54599344e-02 1.18606364e+02] [ 4.71110249e-01 8.81257726e-01 -3.79467265e-02 3.06032954e+01] [ 8.44344405e-02 -2.23181596e-03 9.96426537e-01 1.03603520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:30.65, Z:10.37 [[ 8.74299182e-01 -4.79488281e-01 -7.54448780e-02 1.18649495e+02] [ 4.77990544e-01 8.77543626e-01 -3.79766377e-02 3.06468690e+01] [ 8.44155245e-02 -2.85899503e-03 9.96426538e-01 1.03673717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099999 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:118.69, Y:30.69, Z:10.37 [[ 8.72743346e-01 -4.82316594e-01 -7.54304629e-02 1.18694108e+02] [ 4.80826901e-01 8.75991491e-01 -3.80052480e-02 3.06879347e+01] [ 8.44070054e-02 -3.10016845e-03 9.96426538e-01 1.03680404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277105681 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:30.74, Z:10.37 [[ 8.76670873e-01 -4.75142704e-01 -7.54161242e-02 1.18735261e+02] [ 4.73623978e-01 8.79905544e-01 -3.80336801e-02 3.07357434e+01] [ 8.44304913e-02 -2.37586522e-03 9.96426539e-01 1.03690515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:30.79, Z:10.37 [[ 8.85790527e-01 -4.57918824e-01 -7.54022103e-02 1.18773933e+02] [ 4.56334826e-01 8.88993739e-01 -3.80612446e-02 3.07885317e+01] [ 8.44610532e-02 -6.94364582e-04 9.96426539e-01 1.03691536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:30.83, Z:10.38 [[ 8.88317446e-01 -4.52998146e-01 -7.53975804e-02 1.18819816e+02] [ 4.51395625e-01 8.91511432e-01 -3.80704139e-02 3.08280555e+01] [ 8.44636318e-02 -2.15525089e-04 9.96426539e-01 1.03760790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:118.87, Y:30.86, Z:10.39 [[ 8.91118697e-01 -4.47464591e-01 -7.53850560e-02 1.18866203e+02] [ 4.45840140e-01 8.94301585e-01 -3.80951981e-02 3.08647396e+01] [ 8.44632273e-02 3.37659342e-04 9.96426540e-01 1.03852899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:30.90, Z:10.38 [[ 8.94893168e-01 -4.39869549e-01 -7.53723951e-02 1.18913981e+02] [ 4.38215978e-01 8.98061025e-01 -3.81202317e-02 3.08987160e+01] [ 8.44569395e-02 1.08414710e-03 9.96426540e-01 1.03825814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:30.93, Z:10.39 [[ 8.97280614e-01 -4.34981188e-01 -7.53582529e-02 1.18962190e+02] [ 4.33308015e-01 9.00438161e-01 -3.81481685e-02 3.09318578e+01] [ 8.44491822e-02 1.57627702e-03 9.96426541e-01 1.03869614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:30.96, Z:10.39 [[ 8.99018738e-01 -4.31380056e-01 -7.53429193e-02 1.19012648e+02] [ 4.29691702e-01 9.02168193e-01 -3.81784284e-02 3.09606809e+01] [ 8.44413980e-02 1.94889526e-03 9.96426541e-01 1.03905002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:30.99, Z:10.40 [[ 8.99107002e-01 -4.31196882e-01 -7.53382258e-02 1.19065135e+02] [ 4.29507111e-01 9.02255697e-01 -3.81876881e-02 3.09850205e+01] [ 8.44407554e-02 1.97651405e-03 9.96426541e-01 1.04035205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.12, Y:31.01, Z:10.41 [[ 8.99172690e-01 -4.31062254e-01 -7.53246771e-02 1.19116876e+02] [ 4.29369775e-01 9.02319930e-01 -3.82143940e-02 3.10095940e+01] [ 8.44397402e-02 2.01919972e-03 9.96426542e-01 1.04092725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.17, Y:31.03, Z:10.41 [[ 8.95599700e-01 -4.38438229e-01 -7.53199553e-02 1.19171424e+02] [ 4.36770894e-01 8.98760333e-01 -3.82236983e-02 3.10312293e+01] [ 8.44533187e-02 1.33556855e-03 9.96426542e-01 1.04088312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:119.23, Y:31.05, Z:10.41 [[ 8.92235470e-01 -4.45247227e-01 -7.53045325e-02 1.19227189e+02] [ 4.43601452e-01 8.95407382e-01 -3.82540588e-02 3.10524685e+01] [ 8.44607479e-02 7.26428242e-04 9.96426542e-01 1.04067527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937105681 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:119.28, Y:31.08, Z:10.42 [[ 8.92965165e-01 -4.43784381e-01 -7.52903493e-02 1.19279800e+02] [ 4.42131058e-01 8.96133148e-01 -3.82819534e-02 3.10754129e+01] [ 8.44591108e-02 8.96249088e-04 9.96426543e-01 1.04189854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:31.10, Z:10.43 [[ 8.98560923e-01 -4.32342901e-01 -7.52853493e-02 1.19330281e+02] [ 4.30648427e-01 9.01707088e-01 -3.82917840e-02 3.11011052e+01] [ 8.44405140e-02 1.98598352e-03 9.96426543e-01 1.04345744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057105681 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:119.39, Y:31.12, Z:10.44 [[ 9.04256540e-01 -4.20301019e-01 -7.52805674e-02 1.19385012e+02] [ 4.18563887e-01 9.07379354e-01 -3.83011827e-02 3.11198636e+01] [ 8.44060587e-02 3.12436803e-03 9.96426543e-01 1.04419607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:31.14, Z:10.44 [[ 9.05703885e-01 -4.17175826e-01 -7.52648861e-02 1.19437642e+02] [ 4.15425367e-01 9.08819247e-01 -3.83319731e-02 3.11426136e+01] [ 8.43933497e-02 3.45047409e-03 9.96426544e-01 1.04431006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:31.16, Z:10.44 [[ 9.05734237e-01 -4.17111838e-01 -7.52542873e-02 1.19493498e+02] [ 4.15359434e-01 9.08848505e-01 -3.83527698e-02 3.11638678e+01] [ 8.43921408e-02 3.47983847e-03 9.96426544e-01 1.04382020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:31.18, Z:10.44 [[ 9.04575042e-01 -4.19622211e-01 -7.52409081e-02 1.19550787e+02] [ 4.17876273e-01 9.07692940e-01 -3.83789992e-02 3.11796866e+01] [ 8.44003216e-02 3.27529453e-03 9.96426544e-01 1.04370983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:119.61, Y:31.20, Z:10.43 [[ 9.02471054e-01 -4.24131037e-01 -7.52253929e-02 1.19607793e+02] [ 4.22398150e-01 9.05596224e-01 -3.84093861e-02 3.11963750e+01] [ 8.44144446e-02 2.88829237e-03 9.96426545e-01 1.04337472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:31.21, Z:10.44 [[ 8.99595495e-01 -4.30199026e-01 -7.52113270e-02 1.19666130e+02] [ 4.28484926e-01 9.02731008e-01 -3.84369096e-02 3.12101594e+01] [ 8.44311181e-02 2.35075084e-03 9.96426545e-01 1.04428115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:31.22, Z:10.45 [[ 8.93107695e-01 -4.43513190e-01 -7.51977120e-02 1.19723780e+02] [ 4.41843610e-01 8.96267137e-01 -3.84635277e-02 3.12230523e+01] [ 8.44563199e-02 1.12644402e-03 9.96426546e-01 1.04537405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:119.78, Y:31.24, Z:10.46 [[ 8.91219865e-01 -4.47295323e-01 -7.51933857e-02 1.19778010e+02] [ 4.45638439e-01 8.94385984e-01 -3.84719833e-02 3.12439686e+01] [ 8.44602485e-02 7.77932768e-04 9.96426546e-01 1.04584176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:31.26, Z:10.47 [[ 8.89061355e-01 -4.51572707e-01 -7.51797624e-02 1.19831540e+02] [ 4.49928806e-01 8.92234234e-01 -3.84985869e-02 3.12648542e+01] [ 8.44628689e-02 4.02065133e-04 9.96426546e-01 1.04686083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:119.88, Y:31.29, Z:10.48 [[ 8.90468701e-01 -4.48793650e-01 -7.51648358e-02 1.19883794e+02] [ 4.47137389e-01 8.93635144e-01 -3.85277078e-02 3.12901668e+01] [ 8.44609295e-02 6.98709507e-04 9.96426547e-01 1.04755312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:119.93, Y:31.32, Z:10.49 [[ 8.92030724e-01 -4.45683033e-01 -7.51519848e-02 1.19933091e+02] [ 4.44013620e-01 8.95190253e-01 -3.85527588e-02 3.13181606e+01] [ 8.44576348e-02 1.02174051e-03 9.96426547e-01 1.04866238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:31.34, Z:10.49 [[ 8.93004157e-01 -4.43730283e-01 -7.51465961e-02 1.19984567e+02] [ 4.42053078e-01 8.96159557e-01 -3.85632594e-02 3.13445938e+01] [ 8.44550263e-02 1.21836689e-03 9.96426547e-01 1.04936556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:120.04, Y:31.37, Z:10.49 [[ 8.94072976e-01 -4.41575126e-01 -7.51326953e-02 1.20035285e+02] [ 4.39888041e-01 8.97223104e-01 -3.85903235e-02 3.13743528e+01] [ 8.44513170e-02 1.45259121e-03 9.96426548e-01 1.04945608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:120.09, Y:31.40, Z:10.50 [[ 8.98659629e-01 -4.32166506e-01 -7.51197804e-02 1.20086081e+02] [ 4.30444352e-01 9.01790722e-01 -3.86154472e-02 3.14038901e+01] [ 8.44306239e-02 2.36725830e-03 9.96426548e-01 1.04958475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:31.43, Z:10.49 [[ 9.01864107e-01 -4.25441120e-01 -7.51064945e-02 1.20137373e+02] [ 4.23693477e-01 9.04981044e-01 -3.86412710e-02 3.14311500e+01] [ 8.44095394e-02 3.02704359e-03 9.96426549e-01 1.04922321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:120.19, Y:31.46, Z:10.50 [[ 9.02958692e-01 -4.23113822e-01 -7.51018879e-02 1.20187657e+02] [ 4.21357403e-01 9.06070692e-01 -3.86502221e-02 3.14593792e+01] [ 8.44010628e-02 3.25481752e-03 9.96426549e-01 1.04978538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:120.24, Y:31.48, Z:10.51 [[ 9.01281529e-01 -4.26677278e-01 -7.50873178e-02 1.20243244e+02] [ 4.24930812e-01 9.04399125e-01 -3.86785073e-02 3.14799231e+01] [ 8.44121448e-02 2.95330930e-03 9.96426549e-01 1.05065771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:120.30, Y:31.50, Z:10.52 [[ 8.95992504e-01 -4.37677152e-01 -7.50742546e-02 1.20299515e+02] [ 4.35966854e-01 8.99130088e-01 -3.87038463e-02 3.14981378e+01] [ 8.44413103e-02 1.94846953e-03 9.96426550e-01 1.05186075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:31.52, Z:10.51 [[ 8.92860441e-01 -4.44033810e-01 -7.50613644e-02 1.20352408e+02] [ 4.42343754e-01 8.96008974e-01 -3.87288292e-02 3.15238574e+01] [ 8.44525657e-02 1.37651383e-03 9.96426550e-01 1.05145133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:31.54, Z:10.53 [[ 8.89732255e-01 -4.50269898e-01 -7.50568612e-02 1.20407382e+02] [ 4.48601177e-01 8.92892147e-01 -3.87375544e-02 3.15449500e+01] [ 8.44600367e-02 7.95455399e-04 9.96426550e-01 1.05263799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:31.57, Z:10.54 [[ 8.87854884e-01 -4.53962698e-01 -7.50438141e-02 1.20457524e+02] [ 4.52304985e-01 8.91020564e-01 -3.87628134e-02 3.15732069e+01] [ 8.44624529e-02 4.73061966e-04 9.96426550e-01 1.05382753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317105681 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:31.60, Z:10.55 [[ 8.92507245e-01 -4.44747436e-01 -7.50369014e-02 1.20507294e+02] [ 4.43055916e-01 8.95654991e-01 -3.87761904e-02 3.16002376e+01] [ 8.44527865e-02 1.36248781e-03 9.96426550e-01 1.05507606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:120.56, Y:31.63, Z:10.55 [[ 8.93835828e-01 -4.42072005e-01 -7.50323581e-02 1.20557549e+02] [ 4.40370327e-01 8.96978094e-01 -3.87849798e-02 3.16298169e+01] [ 8.44481353e-02 1.62538053e-03 9.96426551e-01 1.05524974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:120.61, Y:31.66, Z:10.56 [[ 8.94049324e-01 -4.41642514e-01 -7.50179741e-02 1.20609380e+02] [ 4.39936994e-01 8.97189506e-01 -3.88127814e-02 3.16552525e+01] [ 8.44467135e-02 1.69735896e-03 9.96426551e-01 1.05583733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:120.66, Y:31.68, Z:10.56 [[ 8.99148312e-01 -4.31169160e-01 -7.50031249e-02 1.20661373e+02] [ 4.29424688e-01 9.02267022e-01 -3.88414555e-02 3.16800770e+01] [ 8.44200839e-02 2.71603573e-03 9.96426552e-01 1.05591309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:120.71, Y:31.71, Z:10.56 [[ 9.02280396e-01 -4.24576609e-01 -7.49986006e-02 1.20714887e+02] [ 4.22808633e-01 9.05385842e-01 -3.88501894e-02 3.17063040e+01] [ 8.43975528e-02 3.34370854e-03 9.96426552e-01 1.05557529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:120.77, Y:31.73, Z:10.56 [[ 9.04040073e-01 -4.20818967e-01 -7.49862826e-02 1.20770040e+02] [ 4.19036120e-01 9.07137005e-01 -3.88739504e-02 3.17268132e+01] [ 8.43817275e-02 3.72164808e-03 9.96426552e-01 1.05588052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:31.75, Z:10.56 [[ 9.03820500e-01 -4.21292652e-01 -7.49733669e-02 1.20822867e+02] [ 4.19509368e-01 9.06917179e-01 -3.88988441e-02 3.17481358e+01] [ 8.43824317e-02 3.70554298e-03 9.96426552e-01 1.05629891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:31.77, Z:10.57 [[ 9.01463433e-01 -4.26313987e-01 -7.49670827e-02 1.20879059e+02] [ 4.24546951e-01 9.04569414e-01 -3.89109515e-02 3.17674744e+01] [ 8.44012129e-02 3.24975353e-03 9.96426552e-01 1.05688814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:31.79, Z:10.57 [[ 8.99200506e-01 -4.31068799e-01 -7.49542590e-02 1.20934566e+02] [ 4.29316137e-01 9.02314618e-01 -3.89356382e-02 3.17858094e+01] [ 8.44162624e-02 2.83187258e-03 9.96426553e-01 1.05741884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:31.81, Z:10.58 [[ 8.93442957e-01 -4.42881180e-01 -7.49396029e-02 1.20990308e+02] [ 4.41167344e-01 8.96578605e-01 -3.89638265e-02 3.18054494e+01] [ 8.44455901e-02 1.75105077e-03 9.96426553e-01 1.05826380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.04, Y:31.83, Z:10.59 [[ 8.87249125e-01 -4.55164732e-01 -7.49270174e-02 1.21043374e+02] [ 4.53492275e-01 8.90407037e-01 -3.89880134e-02 3.18270256e+01] [ 8.44615122e-02 6.13257112e-04 9.96426554e-01 1.05909620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:31.85, Z:10.60 [[ 8.86762991e-01 -4.56111829e-01 -7.49226142e-02 1.21095719e+02] [ 4.54442031e-01 8.89922309e-01 -3.89964731e-02 3.18508592e+01] [ 8.44620585e-02 5.32644095e-04 9.96426554e-01 1.05954278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:31.88, Z:10.60 [[ 8.84856813e-01 -4.59799951e-01 -7.49161296e-02 1.21146405e+02] [ 4.58142266e-01 8.88022504e-01 -3.90089269e-02 3.18796587e+01] [ 8.44635116e-02 1.95069308e-04 9.96426554e-01 1.06017957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:121.20, Y:31.91, Z:10.61 [[ 8.87153121e-01 -4.55355613e-01 -7.49039777e-02 1.21195477e+02] [ 4.53680101e-01 8.90309412e-01 -3.90322467e-02 3.19117990e+01] [ 8.44612690e-02 6.45135251e-04 9.96426554e-01 1.06120713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:31.95, Z:10.62 [[ 8.95248224e-01 -4.39228642e-01 -7.48920377e-02 1.21243240e+02] [ 4.37494380e-01 8.98372620e-01 -3.90551428e-02 3.19455212e+01] [ 8.44350934e-02 2.19920166e-03 9.96426555e-01 1.06157162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:31.98, Z:10.62 [[ 9.00219049e-01 -4.28949262e-01 -7.48878753e-02 1.21291472e+02] [ 4.27178677e-01 9.03323005e-01 -3.90631227e-02 3.19799266e+01] [ 8.44040381e-02 3.17486369e-03 9.96426555e-01 1.06164900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:32.02, Z:10.62 [[ 9.00851790e-01 -4.27621126e-01 -7.48747255e-02 1.21339936e+02] [ 4.25843875e-01 9.03951933e-01 -3.90883114e-02 3.20151784e+01] [ 8.43981406e-02 3.32783205e-03 9.96426555e-01 1.06157890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:121.39, Y:32.04, Z:10.62 [[ 9.02370759e-01 -4.24408738e-01 -7.48614509e-02 1.21391415e+02] [ 4.22618350e-01 9.05463333e-01 -3.91137184e-02 3.20407391e+01] [ 8.43845027e-02 3.65725292e-03 9.96426555e-01 1.06233918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:121.44, Y:32.07, Z:10.63 [[ 9.02663350e-01 -4.23786887e-01 -7.48568680e-02 1.21442662e+02] [ 4.21993643e-01 9.05754269e-01 -3.91224872e-02 3.20689442e+01] [ 8.43815249e-02 3.72531295e-03 9.96426555e-01 1.06313845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:32.09, Z:10.63 [[ 9.02513909e-01 -4.24107266e-01 -7.48443158e-02 1.21497479e+02] [ 4.22313134e-01 9.05604312e-01 -3.91464858e-02 3.20919605e+01] [ 8.43816442e-02 3.72251037e-03 9.96426556e-01 1.06267306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:32.11, Z:10.63 [[ 9.04619664e-01 -4.19599396e-01 -7.48305424e-02 1.21550504e+02] [ 4.17787699e-01 9.07699802e-01 -3.91727969e-02 3.21142042e+01] [ 8.43605505e-02 4.17320224e-03 9.96426556e-01 1.06307581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.61, Y:32.13, Z:10.64 [[ 9.07629849e-01 -4.13048943e-01 -7.48239798e-02 1.21605198e+02] [ 4.11213997e-01 9.10696194e-01 -3.91853281e-02 3.21339268e+01] [ 8.43273720e-02 4.79710564e-03 9.96426556e-01 1.06383929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:121.66, Y:32.16, Z:10.64 [[ 9.07394476e-01 -4.13566963e-01 -7.48173238e-02 1.21658011e+02] [ 4.11732725e-01 9.10461244e-01 -3.91980324e-02 3.21604732e+01] [ 8.43292850e-02 4.76333747e-03 9.96426556e-01 1.06398942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:32.18, Z:10.66 [[ 9.06373811e-01 -4.15801357e-01 -7.48047218e-02 1.21713648e+02] [ 4.13972704e-01 9.09443913e-01 -3.92220672e-02 3.21765433e+01] [ 8.43392876e-02 4.58274159e-03 9.96426557e-01 1.06556984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:32.20, Z:10.66 [[ 9.03466538e-01 -4.22081885e-01 -7.48003891e-02 1.21768675e+02] [ 4.20273901e-01 9.06548857e-01 -3.92303284e-02 3.21963283e+01] [ 8.43686181e-02 4.00663772e-03 9.96426557e-01 1.06621771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:32.22, Z:10.65 [[ 9.00131048e-01 -4.29149907e-01 -7.47960871e-02 1.21823777e+02] [ 4.27365456e-01 9.03227050e-01 -3.92385288e-02 3.22208849e+01] [ 8.43970601e-02 3.35455413e-03 9.96426557e-01 1.06501909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.88, Y:32.24, Z:10.66 [[ 8.98007820e-01 -4.33577301e-01 -7.47842190e-02 1.21882360e+02] [ 4.31806239e-01 9.01111500e-01 -3.92611351e-02 3.22354535e+01] [ 8.44116568e-02 2.96451406e-03 9.96426557e-01 1.06622251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.94, Y:32.26, Z:10.67 [[ 8.89578500e-01 -4.50620863e-01 -7.47725279e-02 1.21937316e+02] [ 4.48907431e-01 8.92714363e-01 -3.92833882e-02 3.22559393e+01] [ 8.44524239e-02 1.37971420e-03 9.96426558e-01 1.06685117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:32.28, Z:10.68 [[ 8.86356008e-01 -4.56929185e-01 -7.47579240e-02 1.21990426e+02] [ 4.55235731e-01 8.89502705e-01 -3.93111604e-02 3.22784632e+01] [ 8.44597921e-02 8.11204959e-04 9.96426558e-01 1.06758044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.04, Y:32.30, Z:10.68 [[ 8.79852113e-01 -4.69331646e-01 -7.47533699e-02 1.22043217e+02] [ 4.67681814e-01 8.83021898e-01 -3.93198185e-02 3.23043616e+01] [ 8.44628977e-02 -3.65166260e-04 9.96426558e-01 1.06801514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:32.33, Z:10.69 [[ 8.76723554e-01 -4.75152241e-01 -7.47405985e-02 1.22093212e+02] [ 4.73521384e-01 8.79903144e-01 -3.93440800e-02 3.23340586e+01] [ 8.44589154e-02 -8.97390001e-04 9.96426558e-01 1.06852752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:32.37, Z:10.69 [[ 8.73011653e-01 -4.81940706e-01 -7.47248885e-02 1.22142028e+02] [ 4.80332018e-01 8.76202516e-01 -3.93738951e-02 3.23666430e+01] [ 8.44500180e-02 -1.51888726e-03 9.96426559e-01 1.06892514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.19, Y:32.40, Z:10.69 [[ 8.69477858e-01 -4.88289627e-01 -7.47094019e-02 1.22190163e+02] [ 4.86701713e-01 8.72679108e-01 -3.94032580e-02 3.24024809e+01] [ 8.44375364e-02 -2.10093350e-03 9.96426560e-01 1.06898846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:32.44, Z:10.70 [[ 8.64702745e-01 -4.96698726e-01 -7.46963026e-02 1.22234265e+02] [ 4.95139791e-01 8.67918207e-01 -3.94280746e-02 3.24428374e+01] [ 8.44141555e-02 -2.89154734e-03 9.96426560e-01 1.06997254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:32.49, Z:10.70 [[ 8.62698346e-01 -5.00174115e-01 -7.46821182e-02 1.22276582e+02] [ 4.98625811e-01 8.65918939e-01 -3.94549235e-02 3.24860623e+01] [ 8.44029921e-02 -3.20073449e-03 9.96426560e-01 1.07000820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:32.53, Z:10.72 [[ 8.64144306e-01 -4.97673425e-01 -7.46711519e-02 1.22320443e+02] [ 4.96114010e-01 8.67359534e-01 -3.94756672e-02 3.25259912e+01] [ 8.44127260e-02 -2.93273158e-03 9.96426561e-01 1.07152736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:32.57, Z:10.72 [[ 8.67446117e-01 -4.91897946e-01 -7.46568477e-02 1.22362594e+02] [ 4.90314793e-01 8.70649723e-01 -3.95027010e-02 3.25705847e+01] [ 8.44312613e-02 -2.33889223e-03 9.96426561e-01 1.07166648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:122.40, Y:32.62, Z:10.73 [[ 8.78495484e-01 -4.71883531e-01 -7.46432696e-02 1.22403387e+02] [ 4.70225177e-01 8.81660815e-01 -3.95283413e-02 3.26179399e+01] [ 8.44628192e-02 -3.73675273e-04 9.96426562e-01 1.07265360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:122.45, Y:32.65, Z:10.73 [[ 8.81761258e-01 -4.65754639e-01 -7.46304238e-02 1.22450972e+02] [ 4.64072231e-01 8.84913870e-01 -3.95525798e-02 3.26489164e+01] [ 8.44632946e-02 2.42025206e-04 9.96426562e-01 1.07308953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:32.69, Z:10.72 [[ 8.91306933e-01 -4.47217266e-01 -7.46235118e-02 1.22494399e+02] [ 4.45468221e-01 8.94423069e-01 -3.95656162e-02 3.26934713e+01] [ 8.44394171e-02 2.02270498e-03 9.96426562e-01 1.07236208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:32.73, Z:10.73 [[ 8.94292000e-01 -4.41220213e-01 -7.46092639e-02 1.22541949e+02] [ 4.39448039e-01 8.97395040e-01 -3.95924655e-02 3.27269511e+01] [ 8.44229794e-02 2.62033040e-03 9.96426562e-01 1.07253625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:122.59, Y:32.76, Z:10.73 [[ 8.94579995e-01 -4.40636762e-01 -7.46048055e-02 1.22592121e+02] [ 4.38861865e-01 8.97681477e-01 -3.96008648e-02 3.27585913e+01] [ 8.44209489e-02 2.68493739e-03 9.96426563e-01 1.07253629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:32.79, Z:10.74 [[ 8.92634624e-01 -4.44566605e-01 -7.45919605e-02 1.22642011e+02] [ 4.42803346e-01 8.95742738e-01 -3.96250448e-02 3.27868001e+01] [ 8.44311786e-02 2.34111725e-03 9.96426563e-01 1.07382345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:32.81, Z:10.75 [[ 8.85553327e-01 -4.58510721e-01 -7.45870245e-02 1.22695003e+02] [ 4.56795640e-01 8.88688282e-01 -3.96343338e-02 3.28119536e+01] [ 8.44573817e-02 1.02728863e-03 9.96426563e-01 1.07494018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:32.83, Z:10.75 [[ 8.80233653e-01 -4.68644264e-01 -7.45739156e-02 1.22749199e+02] [ 4.66963188e-01 8.83386974e-01 -3.96589835e-02 3.28335952e+01] [ 8.44635808e-02 8.58985319e-05 9.96426563e-01 1.07461273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:32.86, Z:10.75 [[ 8.80481699e-01 -4.68178804e-01 -7.45693374e-02 1.22802093e+02] [ 4.66495331e-01 8.83633741e-01 -3.96675900e-02 3.28594862e+01] [ 8.44635074e-02 1.40339246e-04 9.96426563e-01 1.07488496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:32.89, Z:10.75 [[ 8.83738888e-01 -4.62003143e-01 -7.45565059e-02 1.22852017e+02] [ 4.60295612e-01 8.86877962e-01 -3.96916925e-02 3.28889831e+01] [ 8.44602087e-02 7.59059711e-04 9.96426564e-01 1.07533422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:122.90, Y:32.92, Z:10.75 [[ 8.84986947e-01 -4.59610374e-01 -7.45413133e-02 1.22903502e+02] [ 4.57891954e-01 8.88120073e-01 -3.97202040e-02 3.29162816e+01] [ 8.44574544e-02 1.01999442e-03 9.96426564e-01 1.07542443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:32.95, Z:10.76 [[ 8.82015421e-01 -4.65288173e-01 -7.45366594e-02 1.22954662e+02] [ 4.63589186e-01 8.85159126e-01 -3.97289353e-02 3.29452385e+01] [ 8.44622080e-02 4.87144323e-04 9.96426564e-01 1.07627421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:32.97, Z:10.77 [[ 8.75845587e-01 -4.76802646e-01 -7.45234520e-02 1.23006174e+02] [ 4.75142880e-01 8.79010175e-01 -3.97536944e-02 3.29715856e+01] [ 8.44615392e-02 -5.91189812e-04 9.96426565e-01 1.07666255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:123.06, Y:33.00, Z:10.78 [[ 8.66650032e-01 -4.93321573e-01 -7.45087048e-02 1.23056822e+02] [ 4.91719728e-01 8.69844329e-01 -3.97813154e-02 3.29980772e+01] [ 8.44359554e-02 -2.16092181e-03 9.96426565e-01 1.07781140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:33.03, Z:10.78 [[ 8.57888143e-01 -5.08406449e-01 -7.45038015e-02 1.23104160e+02] [ 5.06859931e-01 8.61109590e-01 -3.97904963e-02 3.30315960e+01] [ 8.43856829e-02 -3.62719676e-03 9.96426565e-01 1.07806847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:33.07, Z:10.79 [[ 8.52575158e-01 -5.17267626e-01 -7.44970015e-02 1.23151181e+02] [ 5.15753460e-01 8.55811937e-01 -3.98032234e-02 3.30673500e+01] [ 8.43443420e-02 -4.48684684e-03 9.96426565e-01 1.07857814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:33.11, Z:10.79 [[ 8.48320639e-01 -5.24218127e-01 -7.44811984e-02 1.23195723e+02] [ 5.22727883e-01 8.51568500e-01 -3.98327730e-02 3.31079872e+01] [ 8.43069040e-02 -5.14243576e-03 9.96426566e-01 1.07850284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:33.15, Z:10.80 [[ 8.44069925e-01 -5.31036001e-01 -7.44763586e-02 1.23239429e+02] [ 5.29571179e-01 8.47329331e-01 -3.98418199e-02 3.31481792e+01] [ 8.42634438e-02 -5.81125112e-03 9.96426566e-01 1.08029526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.28, Y:33.20, Z:10.81 [[ 8.41474339e-01 -5.35141345e-01 -7.44625996e-02 1.23277598e+02] [ 5.33690160e-01 8.44739838e-01 -3.98675184e-02 3.31967134e+01] [ 8.42362818e-02 -6.19246301e-03 9.96426566e-01 1.08116542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.32, Y:33.24, Z:10.81 [[ 8.39426257e-01 -5.38349208e-01 -7.44559607e-02 1.23320772e+02] [ 5.36909406e-01 8.42696792e-01 -3.98799133e-02 3.32402551e+01] [ 8.42131189e-02 -6.49985926e-03 9.96426567e-01 1.08124490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:123.35, Y:33.30, Z:10.81 [[ 8.37834219e-01 -5.40825740e-01 -7.44401788e-02 1.23354194e+02] [ 5.39393008e-01 8.41107857e-01 -3.99093504e-02 3.33013388e+01] [ 8.41962232e-02 -6.71509253e-03 9.96426567e-01 1.08135170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.39, Y:33.35, Z:10.82 [[ 8.44664861e-01 -5.30096417e-01 -7.44248648e-02 1.23392208e+02] [ 5.28619551e-01 8.47918826e-01 -3.99378882e-02 3.33526751e+01] [ 8.42771755e-02 -5.60830780e-03 9.96426568e-01 1.08216588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:33.40, Z:10.83 [[ 8.52841236e-01 -5.16841459e-01 -7.44092259e-02 1.23431664e+02] [ 5.15311426e-01 8.56070542e-01 -3.99670044e-02 3.34015351e+01] [ 8.43561512e-02 -4.25841491e-03 9.96426568e-01 1.08299020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.47, Y:33.45, Z:10.83 [[ 8.63703620e-01 -4.98479314e-01 -7.43937538e-02 1.23470476e+02] [ 4.96878074e-01 8.66898216e-01 -3.99957832e-02 3.34499196e+01] [ 8.44288830e-02 -2.42012232e-03 9.96426569e-01 1.08334792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:33.49, Z:10.84 [[ 8.73873489e-01 -4.80428643e-01 -7.43871212e-02 1.23515539e+02] [ 4.78760332e-01 8.77033577e-01 -4.00081152e-02 3.34894345e+01] [ 8.44610474e-02 -6.51571670e-04 9.96426569e-01 1.08362640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.56, Y:33.53, Z:10.84 [[ 8.79419022e-01 -4.70203244e-01 -7.43713129e-02 1.23560327e+02] [ 4.68495705e-01 8.82558086e-01 -4.00374798e-02 3.35260881e+01] [ 8.44627565e-02 3.67080683e-04 9.96426569e-01 1.08359839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:33.55, Z:10.84 [[ 8.76300753e-01 -4.75991052e-01 -7.43606687e-02 1.23610692e+02] [ 4.74302570e-01 8.79450107e-01 -4.00572393e-02 3.35547545e+01] [ 8.44633855e-02 -1.67267273e-04 9.96426570e-01 1.08382683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:33.58, Z:10.84 [[ 8.72781952e-01 -4.82415165e-01 -7.43456374e-02 1.23661169e+02] [ 4.80747487e-01 8.75942371e-01 -4.00851179e-02 3.35823195e+01] [ 8.44601627e-02 -7.55910956e-04 9.96426570e-01 1.08436173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:123.71, Y:33.61, Z:10.85 [[ 8.71520414e-01 -4.84692816e-01 -7.43306297e-02 1.23711339e+02] [ 4.83031025e-01 8.74683933e-01 -4.01129279e-02 3.36119796e+01] [ 8.44582554e-02 -9.44764752e-04 9.96426571e-01 1.08485024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.77, Y:33.64, Z:10.85 [[ 8.70240080e-01 -4.86990189e-01 -7.43152606e-02 1.23765003e+02] [ 4.85334320e-01 8.73406702e-01 -4.01413813e-02 3.36354648e+01] [ 8.44559055e-02 -1.13510761e-03 9.96426571e-01 1.08473158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.82, Y:33.66, Z:10.85 [[ 8.68237881e-01 -4.90553249e-01 -7.43000071e-02 1.23815574e+02] [ 4.88907961e-01 8.71410012e-01 -4.01695951e-02 3.36627343e+01] [ 8.44510955e-02 -1.44910086e-03 9.96426572e-01 1.08517826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:123.87, Y:33.68, Z:10.85 [[ 8.68813252e-01 -4.89535824e-01 -7.42846495e-02 1.23871267e+02] [ 4.87884395e-01 8.71982190e-01 -4.01979756e-02 3.36844815e+01] [ 8.44532405e-02 -1.31778733e-03 9.96426572e-01 1.08532624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:33.71, Z:10.86 [[ 8.75129390e-01 -4.78155178e-01 -7.42709731e-02 1.23922842e+02] [ 4.76460387e-01 8.78275350e-01 -4.02232288e-02 3.37100441e+01] [ 8.44633100e-02 -1.86646939e-04 9.96426573e-01 1.08614820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.98, Y:33.74, Z:10.87 [[ 8.81123668e-01 -4.67019493e-01 -7.42554642e-02 1.23975742e+02] [ 4.65282535e-01 8.84246545e-01 -4.02518392e-02 3.37353710e+01] [ 8.44585312e-02 9.17077525e-04 9.96426573e-01 1.08712813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:124.03, Y:33.75, Z:10.89 [[ 8.85493493e-01 -4.58682290e-01 -7.42417059e-02 1.24030212e+02] [ 4.56913809e-01 8.88598626e-01 -4.02771995e-02 3.37544490e+01] [ 8.44455160e-02 1.74313739e-03 9.96426573e-01 1.08853607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.09, Y:33.78, Z:10.90 [[ 8.85362572e-01 -4.58935725e-01 -7.42368923e-02 1.24085473e+02] [ 4.57167390e-01 8.88467788e-01 -4.02860697e-02 3.37753098e+01] [ 8.44458041e-02 1.72909200e-03 9.96426574e-01 1.08963195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.14, Y:33.79, Z:10.90 [[ 8.86884675e-01 -4.55989507e-01 -7.42235999e-02 1.24143030e+02] [ 4.54208810e-01 8.89982818e-01 -4.03105450e-02 3.37917196e+01] [ 8.44389142e-02 2.03779163e-03 9.96426574e-01 1.08991859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:33.80, Z:10.89 [[ 8.93037304e-01 -4.43821468e-01 -7.42083448e-02 1.24204633e+02] [ 4.41996252e-01 8.96109429e-01 -4.03386090e-02 3.38042758e+01] [ 8.44019382e-02 3.22407233e-03 9.96426574e-01 1.08912172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:33.82, Z:10.89 [[ 8.97457791e-01 -4.34815641e-01 -7.41948207e-02 1.24264708e+02] [ 4.32957564e-01 9.00510154e-01 -4.03634686e-02 3.38157329e+01] [ 8.43638569e-02 4.10130054e-03 9.96426575e-01 1.08859478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.32, Y:33.83, Z:10.89 [[ 8.95232166e-01 -4.39380475e-01 -7.41900719e-02 1.24324624e+02] [ 4.37537246e-01 8.98293518e-01 -4.03721953e-02 3.38277379e+01] [ 8.43832150e-02 3.68156808e-03 9.96426575e-01 1.08889565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:33.83, Z:10.90 [[ 8.87729882e-01 -4.54349518e-01 -7.41766265e-02 1.24388609e+02] [ 4.52555888e-01 8.90820554e-01 -4.03968838e-02 3.38301916e+01] [ 8.44323682e-02 2.29245174e-03 9.96426575e-01 1.09027544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:124.45, Y:33.84, Z:10.91 [[ 8.82190473e-01 -4.65014501e-01 -7.41719794e-02 1.24447189e+02] [ 4.63257530e-01 8.85302131e-01 -4.04054144e-02 3.38447807e+01] [ 8.44537151e-02 1.28454366e-03 9.96426575e-01 1.09058174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:33.86, Z:10.92 [[ 8.78933959e-01 -4.71143072e-01 -7.41572757e-02 1.24502847e+02] [ 4.69405524e-01 8.82056504e-01 -4.04323826e-02 3.38620860e+01] [ 8.44603443e-02 7.27559309e-04 9.96426576e-01 1.09150903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.55, Y:33.89, Z:10.92 [[ 8.81049423e-01 -4.67175855e-01 -7.41527866e-02 1.24554696e+02] [ 4.65423555e-01 8.84163713e-01 -4.04406139e-02 3.38874511e+01] [ 8.44560815e-02 1.11772599e-03 9.96426576e-01 1.09235242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.61, Y:33.91, Z:10.93 [[ 8.87603867e-01 -4.54601965e-01 -7.41378991e-02 1.24607323e+02] [ 4.52803288e-01 8.90691604e-01 -4.04678882e-02 3.39104997e+01] [ 8.44307857e-02 2.34956958e-03 9.96426576e-01 1.09304851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:33.94, Z:10.94 [[ 8.93373783e-01 -4.43158085e-01 -7.41228385e-02 1.24659022e+02] [ 4.41317594e-01 8.96436779e-01 -4.04954552e-02 3.39364871e+01] [ 8.43923270e-02 3.46586531e-03 9.96426577e-01 1.09365394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:33.96, Z:10.94 [[ 8.99164552e-01 -4.31290085e-01 -7.41078305e-02 1.24714445e+02] [ 4.29406944e-01 9.02201513e-01 -4.05229018e-02 3.39568971e+01] [ 8.43373226e-02 4.61433984e-03 9.96426577e-01 1.09388199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357105681 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:124.77, Y:33.97, Z:10.93 [[ 8.99785124e-01 -4.29996488e-01 -7.40928506e-02 1.24772870e+02] [ 4.28106737e-01 9.02817976e-01 -4.05502729e-02 3.39745519e+01] [ 8.43288323e-02 4.76688380e-03 9.96426578e-01 1.09343957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:33.99, Z:10.94 [[ 8.99196599e-01 -4.31228037e-01 -7.40800638e-02 1.24829033e+02] [ 4.29340525e-01 9.02230844e-01 -4.05736194e-02 3.39924014e+01] [ 8.43338007e-02 4.67808711e-03 9.96426578e-01 1.09401708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:34.01, Z:10.94 [[ 9.00216174e-01 -4.29098021e-01 -7.40657013e-02 1.24887021e+02] [ 4.27201184e-01 9.03244598e-01 -4.05998207e-02 3.40100160e+01] [ 8.43207473e-02 4.90765993e-03 9.96426579e-01 1.09427664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:34.02, Z:10.94 [[ 9.04164798e-01 -4.20716224e-01 -7.40532025e-02 1.24948030e+02] [ 4.18789478e-01 9.07174282e-01 -4.06226056e-02 3.40225760e+01] [ 8.42697500e-02 5.71682798e-03 9.96426579e-01 1.09421761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:34.04, Z:10.95 [[ 9.05083859e-01 -4.18737699e-01 -7.40401731e-02 1.25004746e+02] [ 4.16802447e-01 9.08087879e-01 -4.06463395e-02 3.40402400e+01] [ 8.42551384e-02 5.92822051e-03 9.96426579e-01 1.09458367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:125.06, Y:34.05, Z:10.95 [[ 9.05782918e-01 -4.17224674e-01 -7.40329421e-02 1.25064392e+02] [ 4.15283335e-01 9.08783008e-01 -4.06595057e-02 3.40528352e+01] [ 8.42440289e-02 6.08403863e-03 9.96426579e-01 1.09476424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:34.06, Z:10.96 [[ 9.04902251e-01 -4.19131838e-01 -7.40298434e-02 1.25125682e+02] [ 4.17196365e-01 9.07906129e-01 -4.06651470e-02 3.40635799e+01] [ 8.42562063e-02 5.91300146e-03 9.96426579e-01 1.09556448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:34.08, Z:10.96 [[ 9.01909266e-01 -4.25534605e-01 -7.40268627e-02 1.25180502e+02] [ 4.23620027e-01 9.04926504e-01 -4.06705722e-02 3.40829643e+01] [ 8.42956060e-02 5.32190433e-03 9.96426579e-01 1.09609258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:34.10, Z:10.97 [[ 9.00835723e-01 -4.27805291e-01 -7.40110310e-02 1.25237837e+02] [ 4.25895966e-01 9.03856287e-01 -4.06993620e-02 3.40960331e+01] [ 8.43067381e-02 5.14243962e-03 9.96426580e-01 1.09744115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:34.11, Z:10.98 [[ 8.99428209e-01 -4.30757452e-01 -7.40061792e-02 1.25294007e+02] [ 4.28857320e-01 9.02454565e-01 -4.07081825e-02 3.41128468e+01] [ 8.43225672e-02 4.87599593e-03 9.96426580e-01 1.09807813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:34.13, Z:10.98 [[ 9.00517563e-01 -4.28476234e-01 -7.40015897e-02 1.25349201e+02] [ 4.26567756e-01 9.03538662e-01 -4.07165238e-02 3.41331226e+01] [ 8.43093602e-02 5.09925274e-03 9.96426580e-01 1.09843666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:34.16, Z:10.99 [[ 8.99776297e-01 -4.30033154e-01 -7.39871767e-02 1.25403915e+02] [ 4.28127762e-01 9.02799342e-01 -4.07426973e-02 3.41554741e+01] [ 8.43162851e-02 4.98334895e-03 9.96426580e-01 1.09866089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.46, Y:34.17, Z:11.00 [[ 8.98567767e-01 -4.32555047e-01 -7.39736366e-02 1.25462312e+02] [ 4.30656126e-01 9.01594882e-01 -4.07672664e-02 3.41670422e+01] [ 8.43283390e-02 4.77495181e-03 9.96426581e-01 1.09978956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:34.19, Z:11.00 [[ 8.97464226e-01 -4.34840841e-01 -7.39689545e-02 1.25519457e+02] [ 4.32948934e-01 9.00495729e-01 -4.07757599e-02 3.41869612e+01] [ 8.43396933e-02 4.57000580e-03 9.96426581e-01 1.09967906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:34.21, Z:11.00 [[ 8.97870872e-01 -4.34002595e-01 -7.39570412e-02 1.25574699e+02] [ 4.32106086e-01 9.00899498e-01 -4.07973563e-02 3.42078390e+01] [ 8.43340198e-02 4.67347031e-03 9.96426581e-01 1.09988782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.63, Y:34.22, Z:11.01 [[ 8.95781861e-01 -4.38298897e-01 -7.39522472e-02 1.25632218e+02] [ 4.36416203e-01 8.98819094e-01 -4.08060445e-02 3.42209577e+01] [ 8.43549361e-02 4.27935553e-03 9.96426581e-01 1.10130892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:125.69, Y:34.24, Z:11.02 [[ 8.85744278e-01 -4.58245690e-01 -7.39456652e-02 1.25687588e+02] [ 4.56430478e-01 8.88822318e-01 -4.08179683e-02 3.42419301e+01] [ 8.44292156e-02 2.40322661e-03 9.96426581e-01 1.10185708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:34.26, Z:11.03 [[ 8.79025113e-01 -4.71008366e-01 -7.39321974e-02 1.25742203e+02] [ 4.69235812e-01 8.82127913e-01 -4.08423476e-02 3.42612071e+01] [ 8.44547424e-02 1.20981445e-03 9.96426582e-01 1.10261822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:34.28, Z:11.03 [[ 8.66366223e-01 -4.93907178e-01 -7.39274460e-02 1.25798316e+02] [ 4.92215901e-01 8.69514063e-01 -4.08509462e-02 3.42816323e+01] [ 8.44575295e-02 -9.96384543e-04 9.96426582e-01 1.10288676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:34.31, Z:11.04 [[ 8.59884938e-01 -5.05108457e-01 -7.39144186e-02 1.25849214e+02] [ 5.03456148e-01 8.63053406e-01 -4.08745040e-02 3.43093413e+01] [ 8.44381484e-02 -2.06529816e-03 9.96426582e-01 1.10399953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.90, Y:34.34, Z:11.04 [[ 8.59587514e-01 -5.05616562e-01 -7.38999222e-02 1.25896431e+02] [ 5.03963876e-01 8.62755785e-01 -4.09006964e-02 3.43443364e+01] [ 8.44376549e-02 -2.08516326e-03 9.96426583e-01 1.10427538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:125.94, Y:34.38, Z:11.04 [[ 8.62518473e-01 -5.00602626e-01 -7.38843368e-02 1.25942511e+02] [ 4.98929111e-01 8.65675790e-01 -4.09288311e-02 3.43811153e+01] [ 8.44489620e-02 -1.56117355e-03 9.96426583e-01 1.10441404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.98, Y:34.43, Z:11.05 [[ 8.70009898e-01 -4.87467521e-01 -7.38795837e-02 1.25984907e+02] [ 4.85745598e-01 8.73141078e-01 -4.09374090e-02 3.44267978e+01] [ 8.44629567e-02 -2.70731563e-04 9.96426583e-01 1.10489307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:34.46, Z:11.06 [[ 8.73922763e-01 -4.80419216e-01 -7.38673264e-02 1.26030448e+02] [ 4.78670171e-01 8.77038874e-01 -4.09595142e-02 3.44641677e+01] [ 8.44622544e-02 4.37366102e-04 9.96426583e-01 1.10598165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:34.50, Z:11.06 [[ 8.77199861e-01 -4.74411159e-01 -7.38542838e-02 1.26075091e+02] [ 4.72638794e-01 8.80302767e-01 -4.09830179e-02 3.45028784e+01] [ 8.44569314e-02 1.04389794e-03 9.96426584e-01 1.10587410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.12, Y:34.54, Z:11.06 [[ 8.80968320e-01 -4.67377031e-01 -7.38480191e-02 1.26123859e+02] [ 4.65578949e-01 8.84056395e-01 -4.09943033e-02 3.45367675e+01] [ 8.44456093e-02 1.73259934e-03 9.96426584e-01 1.10602417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:34.57, Z:11.07 [[ 8.82820659e-01 -4.63870564e-01 -7.38362006e-02 1.26170134e+02] [ 4.62058440e-01 8.85900514e-01 -4.10155790e-02 3.45748682e+01] [ 8.44374478e-02 2.09276073e-03 9.96426584e-01 1.10681875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.22, Y:34.61, Z:11.08 [[ 8.80836806e-01 -4.67628712e-01 -7.38235038e-02 1.26218855e+02] [ 4.65827817e-01 8.83923240e-01 -4.10384192e-02 3.46056854e+01] [ 8.44450537e-02 1.75910849e-03 9.96426585e-01 1.10795225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:126.27, Y:34.63, Z:11.08 [[ 8.76617093e-01 -4.75492678e-01 -7.38186026e-02 1.26269121e+02] [ 4.73718733e-01 8.79719095e-01 -4.10472333e-02 3.46342465e+01] [ 8.44572932e-02 1.01345138e-03 9.96426585e-01 1.10833483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:126.32, Y:34.67, Z:11.08 [[ 8.72188928e-01 -4.83569550e-01 -7.38035448e-02 1.26317641e+02] [ 4.81822045e-01 8.75305901e-01 -4.10742898e-02 3.46698830e+01] [ 8.44629541e-02 2.64365989e-04 9.96426585e-01 1.10776411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.37, Y:34.70, Z:11.09 [[ 8.71753155e-01 -4.84356737e-01 -7.37901606e-02 1.26368037e+02] [ 4.82610011e-01 8.74870565e-01 -4.10983206e-02 3.46977580e+01] [ 8.44630879e-02 2.15720416e-04 9.96426585e-01 1.10893033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:34.73, Z:11.10 [[ 8.75176530e-01 -4.78144087e-01 -7.37853133e-02 1.26414059e+02] [ 4.76374500e-01 8.78281019e-01 -4.11070212e-02 3.47320018e+01] [ 8.44593193e-02 8.26458451e-04 9.96426586e-01 1.10973161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:34.77, Z:11.10 [[ 8.80457542e-01 -4.68349328e-01 -7.37795576e-02 1.26461048e+02] [ 4.66544347e-01 8.83541587e-01 -4.11173491e-02 3.47669573e+01] [ 8.44445902e-02 1.78064465e-03 9.96426586e-01 1.10997041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:34.80, Z:11.10 [[ 8.84070368e-01 -4.61495938e-01 -7.37637043e-02 1.26510297e+02] [ 4.59664685e-01 8.87138886e-01 -4.11457700e-02 3.47992243e+01] [ 8.44272562e-02 2.46918613e-03 9.96426586e-01 1.11011550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.56, Y:34.83, Z:11.10 [[ 8.86624667e-01 -4.56570604e-01 -7.37562381e-02 1.26558314e+02] [ 4.54721199e-01 8.89682278e-01 -4.11591494e-02 3.48324877e+01] [ 8.44116756e-02 2.95419216e-03 9.96426586e-01 1.10977989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:34.86, Z:11.10 [[ 8.84987719e-01 -4.59736740e-01 -7.37486799e-02 1.26611326e+02] [ 4.57897148e-01 8.88051244e-01 -4.11726877e-02 3.48587625e+01] [ 8.44212041e-02 2.66801275e-03 9.96426586e-01 1.10989436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:34.88, Z:11.10 [[ 8.79721792e-01 -4.69736726e-01 -7.37358617e-02 1.26664260e+02] [ 4.67930049e-01 8.82804842e-01 -4.11956309e-02 3.48837349e+01] [ 8.44454766e-02 1.73746889e-03 9.96426587e-01 1.11029034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:34.91, Z:11.11 [[ 8.75647764e-01 -4.77290220e-01 -7.37227245e-02 1.26719363e+02] [ 4.75508164e-01 8.78745110e-01 -4.12191277e-02 3.49061441e+01] [ 8.44569702e-02 1.03767961e-03 9.96426587e-01 1.11076783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:34.93, Z:11.12 [[ 8.71892843e-01 -4.84117715e-01 -7.37082731e-02 1.26772287e+02] [ 4.82357732e-01 8.75002784e-01 -4.12449535e-02 3.49302531e+01] [ 8.44623569e-02 4.07424349e-04 9.96426588e-01 1.11217942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:34.96, Z:11.13 [[ 8.64727089e-01 -4.96805893e-01 -7.36950903e-02 1.26821477e+02] [ 4.95089533e-01 8.67861317e-01 -4.12684948e-02 3.49588141e+01] [ 8.44595495e-02 -7.99682519e-04 9.96426588e-01 1.11349681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.87, Y:34.99, Z:11.14 [[ 8.57843216e-01 -5.08602023e-01 -7.36817414e-02 1.26870263e+02] [ 5.06926705e-01 8.60999571e-01 -4.12923145e-02 3.49897669e+01] [ 8.44413025e-02 -1.92891048e-03 9.96426588e-01 1.11403573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:35.02, Z:11.15 [[ 8.53378231e-01 -5.16060982e-01 -7.36658577e-02 1.26917505e+02] [ 5.14410801e-01 8.56547800e-01 -4.13206319e-02 3.50237555e+01] [ 8.44222942e-02 -2.63238507e-03 9.96426589e-01 1.11458155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:126.97, Y:35.06, Z:11.15 [[ 8.53471667e-01 -5.15908686e-01 -7.36501229e-02 1.26965053e+02] [ 5.14255523e-01 8.56639682e-01 -4.13486588e-02 3.50600128e+01] [ 8.44237501e-02 -2.58507370e-03 9.96426589e-01 1.11452463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:127.01, Y:35.10, Z:11.15 [[ 8.55950802e-01 -5.11787019e-01 -7.36360769e-02 1.27010842e+02] [ 5.10116450e-01 8.59109672e-01 -4.13736576e-02 3.50972147e+01] [ 8.44359668e-02 -2.14915877e-03 9.96426590e-01 1.11477804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:35.13, Z:11.14 [[ 8.60310312e-01 -5.04426719e-01 -7.36196509e-02 1.27058065e+02] [ 5.02726618e-01 8.63453386e-01 -4.14028653e-02 3.51336495e+01] [ 8.44518483e-02 -1.39124615e-03 9.96426590e-01 1.11434981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:35.17, Z:11.14 [[ 8.69096021e-01 -4.89136297e-01 -7.36056298e-02 1.27103037e+02] [ 4.87378778e-01 8.72207352e-01 -4.14277770e-02 3.51741917e+01] [ 8.44632009e-02 1.30894237e-04 9.96426591e-01 1.11441013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:127.15, Y:35.21, Z:11.16 [[ 8.73068078e-01 -4.82012817e-01 -7.35919528e-02 1.27150353e+02] [ 4.80227867e-01 8.76163753e-01 -4.14520584e-02 3.52070864e+01] [ 8.44590251e-02 8.49562446e-04 9.96426591e-01 1.11580638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:35.24, Z:11.17 [[ 8.75974839e-01 -4.76710646e-01 -7.35869660e-02 1.27196310e+02] [ 4.74906217e-01 8.79059201e-01 -4.14609093e-02 3.52414839e+01] [ 8.44521564e-02 1.37180566e-03 9.96426591e-01 1.11714803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:35.28, Z:11.17 [[ 8.81080640e-01 -4.67207211e-01 -7.35821169e-02 1.27245040e+02] [ 4.65368806e-01 8.84144872e-01 -4.14695134e-02 3.52756248e+01] [ 8.44321070e-02 2.29516352e-03 9.96426591e-01 1.11723938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:35.31, Z:11.17 [[ 8.86054817e-01 -4.57705713e-01 -7.35686120e-02 1.27294869e+02] [ 4.55832479e-01 8.89097882e-01 -4.14934580e-02 3.53051084e+01] [ 8.44014899e-02 3.23051557e-03 9.96426592e-01 1.11718954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:35.33, Z:11.18 [[ 8.88293253e-01 -4.53346938e-01 -7.35639209e-02 1.27346526e+02] [ 4.51458089e-01 8.91326650e-01 -4.15017731e-02 3.53330869e+01] [ 8.43841849e-02 3.65471785e-03 9.96426592e-01 1.11757992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:35.36, Z:11.17 [[ 8.87725420e-01 -4.54459983e-01 -7.35506753e-02 1.27401089e+02] [ 4.52572998e-01 8.90759977e-01 -4.15252342e-02 3.53562226e+01] [ 8.43875550e-02 3.57595635e-03 9.96426592e-01 1.11740329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:35.37, Z:11.18 [[ 8.83678420e-01 -4.62282189e-01 -7.35365677e-02 1.27457428e+02] [ 4.60420003e-01 8.86728257e-01 -4.15502022e-02 3.53734471e+01] [ 8.44148710e-02 2.85931033e-03 9.96426592e-01 1.11832761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:35.39, Z:11.19 [[ 8.75520340e-01 -4.77553458e-01 -7.35311484e-02 1.27515341e+02] [ 4.75743693e-01 8.78601572e-01 -4.15597905e-02 3.53891703e+01] [ 8.44516042e-02 1.40446177e-03 9.96426592e-01 1.11940069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:35.41, Z:11.21 [[ 8.63769274e-01 -4.98495531e-01 -7.35176579e-02 1.27571473e+02] [ 4.96758450e-01 8.66892060e-01 -4.15836410e-02 3.54059877e+01] [ 8.44611331e-02 -6.01846368e-04 9.96426593e-01 1.12072987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:127.62, Y:35.43, Z:11.21 [[ 8.64005841e-01 -4.98086095e-01 -7.35129102e-02 1.27622755e+02] [ 4.96346820e-01 8.67127405e-01 -4.15920325e-02 3.54337803e+01] [ 8.44614721e-02 -5.52140142e-04 9.96426593e-01 1.12114717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:127.67, Y:35.47, Z:11.22 [[ 8.74313083e-01 -4.79765402e-01 -7.34968819e-02 1.27668413e+02] [ 4.77958343e-01 8.77395902e-01 -4.16203368e-02 3.54696990e+01] [ 8.44538606e-02 1.26075703e-03 9.96426593e-01 1.12169324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:35.50, Z:11.21 [[ 8.81337900e-01 -4.66737638e-01 -7.34811702e-02 1.27716963e+02] [ 4.64882720e-01 8.84392162e-01 -4.16480576e-02 3.55030588e+01] [ 8.44248870e-02 2.54588535e-03 9.96426594e-01 1.12147189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:127.77, Y:35.53, Z:11.21 [[ 8.82326872e-01 -4.64866485e-01 -7.34740852e-02 1.27771531e+02] [ 4.63004052e-01 8.85376556e-01 -4.16605530e-02 3.55273467e+01] [ 8.44188274e-02 2.73942629e-03 9.96426594e-01 1.12137782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:127.82, Y:35.55, Z:11.22 [[ 8.80276019e-01 -4.68740536e-01 -7.34604658e-02 1.27824257e+02] [ 4.66889526e-01 8.83332649e-01 -4.16845544e-02 3.55504870e+01] [ 8.44292683e-02 2.39599154e-03 9.96426594e-01 1.12185074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:35.57, Z:11.23 [[ 8.78034329e-01 -4.72927020e-01 -7.34557688e-02 1.27879410e+02] [ 4.71089894e-01 8.81099325e-01 -4.16928298e-02 3.55704725e+01] [ 8.44394940e-02 2.00346556e-03 9.96426594e-01 1.12303426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:127.93, Y:35.60, Z:11.24 [[ 8.77062530e-01 -4.74728858e-01 -7.34427003e-02 1.27929167e+02] [ 4.72896103e-01 8.80130141e-01 -4.17158376e-02 3.56007006e+01] [ 8.44428461e-02 1.85663127e-03 9.96426595e-01 1.12362626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.98, Y:35.63, Z:11.25 [[ 8.73566544e-01 -4.81133690e-01 -7.34293167e-02 1.27980194e+02] [ 4.79321452e-01 8.76646320e-01 -4.17393825e-02 3.56295631e+01] [ 8.44537634e-02 1.26588144e-03 9.96426595e-01 1.12461086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:35.66, Z:11.25 [[ 8.70028603e-01 -4.87504202e-01 -7.34158195e-02 1.28028058e+02] [ 4.85712515e-01 8.73120379e-01 -4.17631094e-02 3.56598127e+01] [ 8.44605395e-02 6.76117364e-04 9.96426595e-01 1.12493455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:35.69, Z:11.24 [[ 8.70749201e-01 -4.86216952e-01 -7.34091619e-02 1.28078468e+02] [ 4.84419707e-01 8.73837749e-01 -4.17748086e-02 3.56922750e+01] [ 8.44593169e-02 8.14536518e-04 9.96426596e-01 1.12399517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:35.72, Z:11.25 [[ 8.75213838e-01 -4.78134435e-01 -7.34043556e-02 1.28127354e+02] [ 4.76307965e-01 8.78285194e-01 -4.17832523e-02 3.57248819e+01] [ 8.44479704e-02 1.60620140e-03 9.96426596e-01 1.12499116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:35.76, Z:11.26 [[ 8.79937746e-01 -4.69386163e-01 -7.33906881e-02 1.28176410e+02] [ 4.67527169e-01 8.82989525e-01 -4.18072450e-02 3.57564939e+01] [ 8.44269511e-02 2.47563227e-03 9.96426596e-01 1.12580348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:35.78, Z:11.27 [[ 8.82721293e-01 -4.64132514e-01 -7.33766161e-02 1.28229684e+02] [ 4.62253312e-01 8.85760670e-01 -4.18319284e-02 3.57810045e+01] [ 8.44096788e-02 3.00735010e-03 9.96426596e-01 1.12717398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:128.28, Y:35.81, Z:11.27 [[ 8.82207358e-01 -4.65111103e-01 -7.33610237e-02 1.28281910e+02] [ 4.63233004e-01 8.85247416e-01 -4.18592552e-02 3.58087508e+01] [ 8.44118610e-02 2.94529552e-03 9.96426597e-01 1.12710452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:128.33, Y:35.84, Z:11.27 [[ 8.81647591e-01 -4.66173471e-01 -7.33472661e-02 1.28332994e+02] [ 4.64297033e-01 8.84688674e-01 -4.18833480e-02 3.58364870e+01] [ 8.44144013e-02 2.87143478e-03 9.96426597e-01 1.12735118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:35.86, Z:11.28 [[ 8.83756014e-01 -4.62165059e-01 -7.33400748e-02 1.28385895e+02] [ 4.60273789e-01 8.86787895e-01 -4.18959366e-02 3.58607241e+01] [ 8.43999285e-02 3.26927183e-03 9.96426597e-01 1.12779647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:35.89, Z:11.28 [[ 8.84942825e-01 -4.59890973e-01 -7.33245482e-02 1.28438402e+02] [ 4.57989667e-01 8.87968422e-01 -4.19230931e-02 3.58862164e+01] [ 8.43899355e-02 3.51765498e-03 9.96426598e-01 1.12820963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:35.91, Z:11.28 [[ 8.86162508e-01 -4.57538809e-01 -7.33092662e-02 1.28494604e+02] [ 4.55627269e-01 8.89181649e-01 -4.19497991e-02 3.59082990e+01] [ 8.43789154e-02 3.77263841e-03 9.96426598e-01 1.12781211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:128.55, Y:35.93, Z:11.28 [[ 8.85734614e-01 -4.58368828e-01 -7.32953713e-02 1.28549577e+02] [ 4.56458115e-01 8.88754278e-01 -4.19740626e-02 3.59289107e+01] [ 8.43811767e-02 3.72161304e-03 9.96426599e-01 1.12840437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:35.95, Z:11.30 [[ 8.85515775e-01 -4.58793978e-01 -7.32795829e-02 1.28604737e+02] [ 4.56882442e-01 8.88534917e-01 -4.20016085e-02 3.59484403e+01] [ 8.43815532e-02 3.71293214e-03 9.96426599e-01 1.12978423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:35.97, Z:11.30 [[ 8.84880562e-01 -4.60020065e-01 -7.32661623e-02 1.28658742e+02] [ 4.58110779e-01 8.87901128e-01 -4.20250060e-02 3.59719132e+01] [ 8.43854541e-02 3.62309219e-03 9.96426600e-01 1.12987621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:35.99, Z:11.30 [[ 8.85067512e-01 -4.59661080e-01 -7.32611187e-02 1.28713193e+02] [ 4.57749843e-01 8.88086843e-01 -4.20337965e-02 3.59933912e+01] [ 8.43835359e-02 3.66748211e-03 9.96426600e-01 1.13042057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:36.01, Z:11.32 [[ 8.84035276e-01 -4.61643859e-01 -7.32569305e-02 1.28767618e+02] [ 4.59738792e-01 8.87058504e-01 -4.20410945e-02 3.60129425e+01] [ 8.43911963e-02 3.48675783e-03 9.96426600e-01 1.13155703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:128.82, Y:36.03, Z:11.33 [[ 8.72363027e-01 -4.83339289e-01 -7.32521694e-02 1.28824221e+02] [ 4.81508783e-01 8.75431974e-01 -4.20493886e-02 3.60293093e+01] [ 8.44514128e-02 1.41076905e-03 9.96426600e-01 1.13290947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.88, Y:36.05, Z:11.33 [[ 8.60887199e-01 -5.03495763e-01 -7.32478559e-02 1.28878797e+02] [ 5.01736482e-01 8.63997523e-01 -4.20569012e-02 3.60527067e+01] [ 8.44614376e-02 -5.44873634e-04 9.96426600e-01 1.13289344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:36.08, Z:11.34 [[ 8.56911789e-01 -5.10233342e-01 -7.32401757e-02 1.28931036e+02] [ 5.08497370e-01 8.60035183e-01 -4.20702717e-02 3.60799358e+01] [ 8.44547832e-02 -1.19192500e-03 9.96426600e-01 1.13353763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:36.11, Z:11.34 [[ 8.56896194e-01 -5.10261666e-01 -7.32252987e-02 1.28980679e+02] [ 5.08523587e-01 8.60018416e-01 -4.20961500e-02 3.61118866e+01] [ 8.44551570e-02 -1.16476084e-03 9.96426600e-01 1.13394763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:36.15, Z:11.34 [[ 8.62111280e-01 -5.01401464e-01 -7.32168912e-02 1.29029222e+02] [ 4.99630051e-01 8.65214711e-01 -4.21107679e-02 3.61457326e+01] [ 8.44627319e-02 -2.77191069e-04 9.96426600e-01 1.13391105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:36.18, Z:11.35 [[ 8.66595191e-01 -4.93613637e-01 -7.32007646e-02 1.29074646e+02] [ 4.91811968e-01 8.69681155e-01 -4.21387820e-02 3.61808867e+01] [ 8.44616029e-02 5.16253729e-04 9.96426601e-01 1.13521445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:129.12, Y:36.22, Z:11.36 [[ 8.72074704e-01 -4.83867851e-01 -7.31957166e-02 1.29120037e+02] [ 4.82030965e-01 8.75139836e-01 -4.21475487e-02 3.62169375e+01] [ 8.44503312e-02 1.47320915e-03 9.96426601e-01 1.13588868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.17, Y:36.25, Z:11.36 [[ 8.75174019e-01 -4.78240032e-01 -7.31909070e-02 1.29167933e+02] [ 4.76382742e-01 8.78226829e-01 -4.21558990e-02 3.62507650e+01] [ 8.44388567e-02 2.02686253e-03 9.96426601e-01 1.13631237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.21, Y:36.28, Z:11.36 [[ 8.76655497e-01 -4.75521347e-01 -7.31750555e-02 1.29214144e+02] [ 4.73652297e-01 8.79701121e-01 -4.21833966e-02 3.62848663e+01] [ 8.44312839e-02 2.32077338e-03 9.96426602e-01 1.13599134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:36.32, Z:11.36 [[ 8.78514200e-01 -4.72080244e-01 -7.31644947e-02 1.29262344e+02] [ 4.70197743e-01 8.81551529e-01 -4.22017056e-02 3.63173836e+01] [ 8.44208637e-02 2.67301737e-03 9.96426602e-01 1.13638766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:36.35, Z:11.36 [[ 8.77582132e-01 -4.73812953e-01 -7.31497550e-02 1.29312781e+02] [ 4.71934324e-01 8.80621857e-01 -4.22272391e-02 3.63467030e+01] [ 8.44250859e-02 2.53599036e-03 9.96426602e-01 1.13614195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:36.37, Z:11.37 [[ 8.70879399e-01 -4.86025109e-01 -7.31345729e-02 1.29364956e+02] [ 4.84186917e-01 8.73943745e-01 -4.22535172e-02 3.63691582e+01] [ 8.44517729e-02 1.38691423e-03 9.96426603e-01 1.13688018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:36.39, Z:11.37 [[ 8.58172362e-01 -5.08126977e-01 -7.31243645e-02 1.29420090e+02] [ 5.06366209e-01 8.61281841e-01 -4.22711767e-02 3.63895729e+01] [ 8.44598125e-02 -7.51751648e-04 9.96426603e-01 1.13698012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:36.41, Z:11.38 [[ 8.51122568e-01 -5.19851302e-01 -7.31094866e-02 1.29474373e+02] [ 5.18131147e-01 8.54254697e-01 -4.22968928e-02 3.64111702e+01] [ 8.44422172e-02 -1.88046213e-03 9.96426603e-01 1.13828410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:36.44, Z:11.39 [[ 8.54945202e-01 -5.13541483e-01 -7.31016148e-02 1.29524073e+02] [ 5.11797045e-01 8.58063871e-01 -4.23104934e-02 3.64430213e+01] [ 8.44540481e-02 -1.24003707e-03 9.96426603e-01 1.13892369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:36.48, Z:11.40 [[ 8.61106216e-01 -5.03144527e-01 -7.30867196e-02 1.29568384e+02] [ 5.01360246e-01 8.64202262e-01 -4.23362075e-02 3.64813539e+01] [ 8.44629396e-02 -1.86804214e-04 9.96426604e-01 1.13983965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:36.52, Z:11.40 [[ 8.67975813e-01 -4.91201254e-01 -7.30706223e-02 1.29614325e+02] [ 4.89372037e-01 8.71045523e-01 -4.23639729e-02 3.65186383e+01] [ 8.44570750e-02 1.01218451e-03 9.96426604e-01 1.14011060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:36.55, Z:11.41 [[ 8.71796107e-01 -4.84389727e-01 -7.30625801e-02 1.29660595e+02] [ 4.82535368e-01 8.74850694e-01 -4.23778382e-02 3.65534257e+01] [ 8.44462384e-02 1.68955535e-03 9.96426605e-01 1.14136474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:36.58, Z:11.42 [[ 8.69701472e-01 -4.88141744e-01 -7.30546897e-02 1.29709198e+02] [ 4.86299422e-01 8.72763335e-01 -4.23914360e-02 3.65848520e+01] [ 8.44524841e-02 1.34144087e-03 9.96426605e-01 1.14225109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:36.62, Z:11.42 [[ 8.71628051e-01 -4.84695862e-01 -7.30374028e-02 1.29758818e+02] [ 4.82838944e-01 8.74681083e-01 -4.24211993e-02 3.66153412e+01] [ 8.44458143e-02 1.71020481e-03 9.96426605e-01 1.14235839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:36.65, Z:11.42 [[ 8.73891307e-01 -4.80605949e-01 -7.30199000e-02 1.29805150e+02] [ 4.78732230e-01 8.76934056e-01 -4.24513057e-02 3.66537988e+01] [ 8.44359872e-02 2.14084741e-03 9.96426606e-01 1.14178736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.86, Y:36.68, Z:11.42 [[ 8.77989646e-01 -4.73079589e-01 -7.30060605e-02 1.29857452e+02] [ 4.71177820e-01 8.81014942e-01 -4.24750931e-02 3.66773681e+01] [ 8.44135297e-02 2.89385545e-03 9.96426606e-01 1.14235137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:36.70, Z:11.44 [[ 8.74386274e-01 -4.79707915e-01 -7.29997278e-02 1.29911372e+02] [ 4.77828179e-01 8.77425309e-01 -4.24859741e-02 3.66996737e+01] [ 8.44326667e-02 2.26782561e-03 9.96426606e-01 1.14374138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.96, Y:36.72, Z:11.44 [[ 8.66584793e-01 -4.93663721e-01 -7.29858017e-02 1.29964831e+02] [ 4.91830933e-01 8.69652369e-01 -4.25098839e-02 3.67241436e+01] [ 8.44578629e-02 9.41744036e-04 9.96426607e-01 1.14378694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.02, Y:36.75, Z:11.45 [[ 8.60267584e-01 -5.04594016e-01 -7.29696091e-02 1.30016100e+02] [ 5.02797849e-01 8.63356746e-01 -4.25376611e-02 3.67492166e+01] [ 8.44630534e-02 -9.51915883e-05 9.96426607e-01 1.14465036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:36.78, Z:11.45 [[ 8.49953393e-01 -5.21781261e-01 -7.29626307e-02 1.30064988e+02] [ 5.20046515e-01 8.53077459e-01 -4.25496274e-02 3.67797471e+01] [ 8.44443739e-02 -1.77876163e-03 9.96426607e-01 1.14519584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:36.82, Z:11.45 [[ 8.44249799e-01 -5.30962492e-01 -7.29459275e-02 1.30111020e+02] [ 5.29259237e-01 8.47391145e-01 -4.25782438e-02 3.68162349e+01] [ 8.44211835e-02 -2.66063219e-03 9.96426608e-01 1.14495922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:36.85, Z:11.45 [[ 8.42022961e-01 -5.34487937e-01 -7.29381853e-02 1.30156290e+02] [ 5.32796686e-01 8.45170785e-01 -4.25915024e-02 3.68535180e+01] [ 8.44098675e-02 -2.99820042e-03 9.96426608e-01 1.14534173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:130.20, Y:36.90, Z:11.47 [[ 8.40148549e-01 -5.37431746e-01 -7.29214202e-02 1.30197808e+02] [ 5.35749037e-01 8.43300948e-01 -4.26201868e-02 3.68976466e+01] [ 8.44001442e-02 -3.26029255e-03 9.96426609e-01 1.14651422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:36.94, Z:11.47 [[ 8.39681275e-01 -5.38163534e-01 -7.29065630e-02 1.30237724e+02] [ 5.36481371e-01 8.42833965e-01 -4.26455866e-02 3.69418955e+01] [ 8.43984272e-02 -3.30431240e-03 9.96426609e-01 1.14693487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:130.27, Y:37.00, Z:11.48 [[ 8.44812933e-01 -5.30073041e-01 -7.28949937e-02 1.30273711e+02] [ 5.28358969e-01 8.47948387e-01 -4.26653532e-02 3.69952213e+01] [ 8.44269459e-02 -2.47048158e-03 9.96426609e-01 1.14757770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897105681 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:130.31, Y:37.04, Z:11.48 [[ 8.54498250e-01 -5.14316602e-01 -7.28778075e-02 1.30312574e+02] [ 5.12542182e-01 8.57599951e-01 -4.26946893e-02 3.70420299e+01] [ 8.44585916e-02 -8.70413135e-04 9.96426610e-01 1.14811700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957105681 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:37.09, Z:11.48 [[ 8.66874193e-01 -4.93172429e-01 -7.28703608e-02 1.30351232e+02] [ 4.91321289e-01 8.69930727e-01 -4.27073954e-02 3.70917709e+01] [ 8.44542758e-02 1.21917928e-03 9.96426610e-01 1.14782109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:37.13, Z:11.48 [[ 8.70356528e-01 -4.87002815e-01 -7.28544674e-02 1.30393727e+02] [ 4.85127745e-01 8.73398439e-01 -4.27344907e-02 3.71312017e+01] [ 8.44427954e-02 1.85051945e-03 9.96426610e-01 1.14817641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:37.17, Z:11.48 [[ 8.67183257e-01 -4.92632118e-01 -7.28477561e-02 1.30438894e+02] [ 4.90775838e-01 8.70236670e-01 -4.27459282e-02 3.71691184e+01] [ 8.44528059e-02 1.31663469e-03 9.96426610e-01 1.14766974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137105681 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:37.20, Z:11.49 [[ 8.64648412e-01 -4.97068694e-01 -7.28411744e-02 1.30485884e+02] [ 4.95227138e-01 8.67710729e-01 -4.27571409e-02 3.72022608e+01] [ 8.44583047e-02 8.96967613e-04 9.96426611e-01 1.14859320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197105681 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:130.54, Y:37.23, Z:11.49 [[ 8.60701827e-01 -5.03873756e-01 -7.28258330e-02 1.30537192e+02] [ 5.02054204e-01 8.63777268e-01 -4.27832552e-02 3.72322015e+01] [ 8.44626586e-02 2.61110302e-04 9.96426611e-01 1.14886981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:37.27, Z:11.49 [[ 8.58325123e-01 -5.07913614e-01 -7.28130784e-02 1.30584733e+02] [ 5.06106696e-01 8.61408003e-01 -4.28049512e-02 3.72679857e+01] [ 8.44629860e-02 -1.10621570e-04 9.96426611e-01 1.14917566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:130.63, Y:37.30, Z:11.50 [[ 8.53640838e-01 -5.15749731e-01 -7.27978980e-02 1.30633821e+02] [ 5.13968910e-01 8.56738867e-01 -4.28307530e-02 3.72983845e+01] [ 8.44587380e-02 -8.53776357e-04 9.96426612e-01 1.14994390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:130.68, Y:37.33, Z:11.50 [[ 8.51355062e-01 -5.19514944e-01 -7.27927257e-02 1.30681832e+02] [ 5.17747073e-01 8.54460498e-01 -4.28395417e-02 3.73311666e+01] [ 8.44542908e-02 -1.21655994e-03 9.96426612e-01 1.14992772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:37.36, Z:11.51 [[ 8.45028396e-01 -5.29745802e-01 -7.27763293e-02 1.30729568e+02] [ 5.28013120e-01 8.48153602e-01 -4.28673781e-02 3.73632184e+01] [ 8.44343195e-02 -2.20270495e-03 9.96426612e-01 1.15080224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:37.39, Z:11.52 [[ 8.34924234e-01 -5.45534264e-01 -7.27591271e-02 1.30777245e+02] [ 5.43858089e-01 8.38080106e-01 -4.28965558e-02 3.73946096e+01] [ 8.43795180e-02 -3.75526581e-03 9.96426613e-01 1.15151834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:37.43, Z:11.52 [[ 8.32865057e-01 -5.48673921e-01 -7.27511182e-02 1.30825984e+02] [ 5.47008457e-01 8.36026596e-01 -4.29101343e-02 3.74260909e+01] [ 8.43655413e-02 -4.05712540e-03 9.96426613e-01 1.15218527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617105681 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:37.46, Z:11.52 [[ 8.31252819e-01 -5.51115493e-01 -7.27355724e-02 1.30871474e+02] [ 5.49457017e-01 8.34418028e-01 -4.29364694e-02 3.74628568e+01] [ 8.43548264e-02 -4.27400939e-03 9.96426614e-01 1.15242025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:130.92, Y:37.50, Z:11.53 [[ 8.29795925e-01 -5.53308848e-01 -7.27189212e-02 1.30915217e+02] [ 5.51656276e-01 8.32964220e-01 -4.29646522e-02 3.75040717e+01] [ 8.43449817e-02 -4.46395587e-03 9.96426614e-01 1.15275926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:37.55, Z:11.53 [[ 8.28192163e-01 -5.55708577e-01 -7.27029447e-02 1.30953740e+02] [ 5.54062821e-01 8.31364004e-01 -4.29916701e-02 3.75523660e+01] [ 8.43334509e-02 -4.67663437e-03 9.96426615e-01 1.15316214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:37.60, Z:11.54 [[ 8.28338769e-01 -5.55490754e-01 -7.26973638e-02 1.30992991e+02] [ 5.53843339e-01 8.31509748e-01 -4.30011050e-02 3.76011990e+01] [ 8.43352829e-02 -4.64346837e-03 9.96426615e-01 1.15383809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:37.65, Z:11.54 [[ 8.29455753e-01 -5.53823465e-01 -7.26823502e-02 1.31031381e+02] [ 5.52167461e-01 8.32622254e-01 -4.30264667e-02 3.76501256e+01] [ 8.43460092e-02 -4.44427847e-03 9.96426615e-01 1.15398675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:37.70, Z:11.54 [[ 8.29305533e-01 -5.54050619e-01 -7.26652922e-02 1.31070606e+02] [ 5.52392969e-01 8.32471172e-01 -4.30552561e-02 3.76958234e+01] [ 8.43465522e-02 -4.43383445e-03 9.96426616e-01 1.15405516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:37.74, Z:11.55 [[ 8.27667311e-01 -5.56497086e-01 -7.26485836e-02 1.31109441e+02] [ 5.54846328e-01 8.30836549e-01 -4.30834307e-02 3.77434669e+01] [ 8.43349021e-02 -4.65005264e-03 9.96426616e-01 1.15520123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:131.15, Y:37.79, Z:11.56 [[ 8.31837959e-01 -5.50245627e-01 -7.26316768e-02 1.31150856e+02] [ 5.48568559e-01 8.34993353e-01 -4.31119140e-02 3.77860850e+01] [ 8.43691095e-02 -3.98132776e-03 9.96426617e-01 1.15629049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:131.20, Y:37.83, Z:11.55 [[ 8.44792654e-01 -5.30142191e-01 -7.26266470e-02 1.31196562e+02] [ 5.28389219e-01 8.47906519e-01 -4.31203856e-02 3.78264719e+01] [ 8.44405432e-02 -1.94735237e-03 9.96426617e-01 1.15532200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:131.23, Y:37.89, Z:11.57 [[ 8.51222178e-01 -5.19757848e-01 -7.26125585e-02 1.31228540e+02] [ 5.17964856e-01 8.54313172e-01 -4.31440970e-02 3.78854559e+01] [ 8.44583482e-02 -8.85541226e-04 9.96426617e-01 1.15741316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:37.92, Z:11.57 [[ 8.59278618e-01 -5.06329812e-01 -7.25973702e-02 1.31273003e+02] [ 5.04486355e-01 8.62339782e-01 -4.31696390e-02 3.79239760e+01] [ 8.44616756e-02 4.70365062e-04 9.96426618e-01 1.15721526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:37.96, Z:11.57 [[ 8.63991491e-01 -4.98247778e-01 -7.25799932e-02 1.31320525e+02] [ 4.96373237e-01 8.67033719e-01 -4.31988348e-02 3.79585553e+01] [ 8.44530249e-02 1.29665948e-03 9.96426618e-01 1.15741711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:131.37, Y:37.99, Z:11.58 [[ 8.65928081e-01 -4.94876730e-01 -7.25643258e-02 1.31371578e+02] [ 4.92988143e-01 8.68961609e-01 -4.32251366e-02 3.79861711e+01] [ 8.44467275e-02 1.65650734e-03 9.96426619e-01 1.15763579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:131.43, Y:38.01, Z:11.58 [[ 8.63115353e-01 -4.99767456e-01 -7.25560269e-02 1.31426441e+02] [ 4.97894890e-01 8.66158797e-01 -4.32390622e-02 3.80092349e+01] [ 8.44545171e-02 1.19502338e-03 9.96426619e-01 1.15829668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:131.48, Y:38.03, Z:11.60 [[ 8.55330209e-01 -5.12979498e-01 -7.25414916e-02 1.31482603e+02] [ 5.11151882e-01 8.58400856e-01 -4.32634343e-02 3.80268742e+01] [ 8.44629332e-02 -7.51976474e-05 9.96426619e-01 1.16004306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:38.05, Z:11.60 [[ 8.55053430e-01 -5.13442786e-01 -7.25268047e-02 1.31537869e+02] [ 5.11614746e-01 8.58123824e-01 -4.32880414e-02 3.80480940e+01] [ 8.44629116e-02 -9.21944601e-05 9.96426620e-01 1.16046751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.59, Y:38.07, Z:11.61 [[ 8.58585446e-01 -5.07516641e-01 -7.25113204e-02 1.31589833e+02] [ 5.05665220e-01 8.61641797e-01 -4.33139636e-02 3.80742310e+01] [ 8.44613417e-02 5.22286017e-04 9.96426620e-01 1.16056297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:131.64, Y:38.10, Z:11.61 [[ 8.62122215e-01 -5.01487597e-01 -7.24946652e-02 1.31642046e+02] [ 4.99612461e-01 8.65164074e-01 -4.33418215e-02 3.81023727e+01] [ 8.44551658e-02 1.14670899e-03 9.96426620e-01 1.16062634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:38.12, Z:11.62 [[ 8.67428487e-01 -4.92254472e-01 -7.24800284e-02 1.31696266e+02] [ 4.90344923e-01 8.70448862e-01 -4.33662848e-02 3.81229089e+01] [ 8.44374058e-02 2.07693686e-03 9.96426621e-01 1.16168259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:38.14, Z:11.62 [[ 8.69504505e-01 -4.88578860e-01 -7.24749137e-02 1.31752409e+02] [ 4.86655834e-01 8.72516317e-01 -4.33748309e-02 3.81440904e+01] [ 8.44275702e-02 2.44427124e-03 9.96426621e-01 1.16166746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:38.16, Z:11.62 [[ 8.67884437e-01 -4.91452944e-01 -7.24610787e-02 1.31808829e+02] [ 4.89537966e-01 8.70901372e-01 -4.33979311e-02 3.81631617e+01] [ 8.44344938e-02 2.19193998e-03 9.96426621e-01 1.16238252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:38.18, Z:11.62 [[ 8.65880879e-01 -4.94976638e-01 -7.24460598e-02 1.31866904e+02] [ 4.93071844e-01 8.68904253e-01 -4.34229885e-02 3.81811767e+01] [ 8.44420543e-02 1.87802316e-03 9.96426622e-01 1.16197381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:38.19, Z:11.63 [[ 8.59882603e-01 -5.05327231e-01 -7.24313415e-02 1.31926120e+02] [ 5.03456773e-01 8.62927338e-01 -4.34475254e-02 3.81947113e+01] [ 8.44582024e-02 8.93721840e-04 9.96426622e-01 1.16274651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:38.22, Z:11.63 [[ 8.57289955e-01 -5.09714026e-01 -7.24261338e-02 1.31977076e+02] [ 5.07858415e-01 8.60343762e-01 -4.34562048e-02 3.82212712e+01] [ 8.44616095e-02 4.72346422e-04 9.96426622e-01 1.16330111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:38.24, Z:11.64 [[ 8.51888083e-01 -5.18694068e-01 -7.24096516e-02 1.32031859e+02] [ 5.16868315e-01 8.54959833e-01 -4.34836512e-02 3.82421865e+01] [ 8.44620557e-02 -3.83050386e-04 9.96426623e-01 1.16404007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:38.27, Z:11.64 [[ 8.49700952e-01 -5.22270261e-01 -7.24021156e-02 1.32084932e+02] [ 5.20456367e-01 8.52779720e-01 -4.34961954e-02 3.82669338e+01] [ 8.44598252e-02 -7.23383431e-04 9.96426623e-01 1.16437328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:38.29, Z:11.65 [[ 8.45428352e-01 -5.29160800e-01 -7.23861094e-02 1.32137703e+02] [ 5.27369717e-01 8.48520446e-01 -4.35228166e-02 3.82911331e+01] [ 8.44516623e-02 -1.37881885e-03 9.96426623e-01 1.16479755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:38.31, Z:11.65 [[ 8.42479438e-01 -5.33845565e-01 -7.23692507e-02 1.32191721e+02] [ 5.32069268e-01 8.45580049e-01 -4.35508312e-02 3.83131784e+01] [ 8.44434126e-02 -1.81477444e-03 9.96426624e-01 1.16527653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:38.34, Z:11.66 [[ 8.39695063e-01 -5.38216776e-01 -7.23526262e-02 1.32241313e+02] [ 5.36454241e-01 8.42803517e-01 -4.35784326e-02 3.83419397e+01] [ 8.44336913e-02 -2.22127843e-03 9.96426624e-01 1.16579844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:38.37, Z:11.66 [[ 8.31503254e-01 -5.50788906e-01 -7.23458286e-02 1.32292178e+02] [ 5.49072357e-01 8.34637336e-01 -4.35897146e-02 3.83722352e+01] [ 8.43912609e-02 -3.47810518e-03 9.96426624e-01 1.16598793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:38.41, Z:11.67 [[ 8.24889796e-01 -5.60646939e-01 -7.23314169e-02 1.32338900e+02] [ 5.58965727e-01 8.28042975e-01 -4.36136159e-02 3.84074706e+01] [ 8.43453619e-02 -4.45435634e-03 9.96426625e-01 1.16744055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:38.45, Z:11.68 [[ 8.24094207e-01 -5.61817643e-01 -7.23164816e-02 1.32382847e+02] [ 5.60138746e-01 8.27248619e-01 -4.36383664e-02 3.84459847e+01] [ 8.43405137e-02 -4.54513833e-03 9.96426625e-01 1.16840059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.42, Y:38.49, Z:11.69 [[ 8.24314378e-01 -5.61495127e-01 -7.23120231e-02 1.32421610e+02] [ 5.59814351e-01 8.27467788e-01 -4.36457532e-02 3.84933823e+01] [ 8.43427476e-02 -4.50348641e-03 9.96426625e-01 1.16874695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.46, Y:38.54, Z:11.68 [[ 8.26987677e-01 -5.57552526e-01 -7.22949712e-02 1.32463617e+02] [ 5.55854251e-01 8.30131697e-01 -4.36739799e-02 3.85393857e+01] [ 8.43648850e-02 -4.06762391e-03 9.96426626e-01 1.16835685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:38.59, Z:11.69 [[ 8.32157839e-01 -5.49808130e-01 -7.22796746e-02 1.32501690e+02] [ 5.48078385e-01 8.35284656e-01 -4.36992809e-02 3.85875036e+01] [ 8.44003230e-02 -3.25022819e-03 9.96426626e-01 1.16910613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:38.63, Z:11.69 [[ 8.37998480e-01 -5.40865034e-01 -7.22742208e-02 1.32545228e+02] [ 5.39101126e-01 8.41106153e-01 -4.37082990e-02 3.86297300e+01] [ 8.44305825e-02 -2.33562572e-03 9.96426626e-01 1.16923486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.59, Y:38.67, Z:11.70 [[ 8.45601235e-01 -5.28901798e-01 -7.22595323e-02 1.32586811e+02] [ 5.27091833e-01 8.48682309e-01 -4.37325690e-02 3.86730323e+01] [ 8.44556212e-02 -1.10709494e-03 9.96426627e-01 1.16979296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:38.72, Z:11.69 [[ 8.59892956e-01 -5.05336633e-01 -7.22425924e-02 1.32630509e+02] [ 5.03439882e-01 8.62921376e-01 -4.37605346e-02 3.87156040e+01] [ 8.44534784e-02 1.25957318e-03 9.96426627e-01 1.16852596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:38.75, Z:11.70 [[ 8.60470744e-01 -5.04352907e-01 -7.22374127e-02 1.32678300e+02] [ 5.02451976e-01 8.63496543e-01 -4.37690833e-02 3.87460186e+01] [ 8.44518205e-02 1.36618498e-03 9.96426627e-01 1.17014050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:38.78, Z:11.70 [[ 8.59107308e-01 -5.06674207e-01 -7.22210560e-02 1.32726158e+02] [ 5.04779186e-01 8.62136810e-01 -4.37960560e-02 3.87781795e+01] [ 8.44547628e-02 1.16982599e-03 9.96426628e-01 1.17036892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:38.80, Z:11.71 [[ 8.57991007e-01 -5.08564586e-01 -7.22045237e-02 1.32780339e+02] [ 5.06673948e-01 8.61023246e-01 -4.38232953e-02 3.88001841e+01] [ 8.44567494e-02 1.01584219e-03 9.96426628e-01 1.17063807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:38.83, Z:11.72 [[ 8.55617348e-01 -5.12548718e-01 -7.21994853e-02 1.32832734e+02] [ 5.10671500e-01 8.58657913e-01 -4.38315946e-02 3.88251107e+01] [ 8.44604869e-02 6.32853279e-04 9.96426628e-01 1.17201423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:38.85, Z:11.73 [[ 8.53349974e-01 -5.16316914e-01 -7.21849413e-02 1.32886435e+02] [ 5.14451097e-01 8.56397549e-01 -4.38555335e-02 3.88466530e+01] [ 8.44623605e-02 2.88496152e-04 9.96426629e-01 1.17252819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:38.87, Z:11.72 [[ 8.52542065e-01 -5.17650841e-01 -7.21778026e-02 1.32940610e+02] [ 5.15788797e-01 8.55591946e-01 -4.38672793e-02 3.88724617e+01] [ 8.44626806e-02 1.70198829e-04 9.96426629e-01 1.17194672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.00, Y:38.90, Z:11.72 [[ 8.55356153e-01 -5.12989523e-01 -7.21637129e-02 1.32995394e+02] [ 5.11108905e-01 8.58394615e-01 -4.38904454e-02 3.88982407e+01] [ 8.44602812e-02 6.58446217e-04 9.96426629e-01 1.17171951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:38.92, Z:11.73 [[ 8.60185245e-01 -5.04852005e-01 -7.21512071e-02 1.33047968e+02] [ 5.02940924e-01 8.63204640e-01 -4.39109940e-02 3.89249648e+01] [ 8.44498102e-02 1.48379432e-03 9.96426629e-01 1.17326108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:38.95, Z:11.74 [[ 8.61330151e-01 -5.02897802e-01 -7.21399479e-02 1.33101450e+02] [ 5.00978323e-01 8.64344214e-01 -4.39294836e-02 3.89461501e+01] [ 8.44457873e-02 1.69723860e-03 9.96426630e-01 1.17408934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:133.16, Y:38.97, Z:11.74 [[ 8.53924455e-01 -5.15374124e-01 -7.21286110e-02 1.33157345e+02] [ 5.13497122e-01 8.56965152e-01 -4.39480901e-02 3.89674819e+01] [ 8.44614145e-02 4.90514708e-04 9.96426630e-01 1.17426030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.21, Y:38.99, Z:11.74 [[ 8.44849326e-01 -5.30121848e-01 -7.21140939e-02 1.33213767e+02] [ 5.28295887e-01 8.47920944e-01 -4.39718983e-02 3.89898560e+01] [ 8.44575145e-02 -9.47950544e-04 9.96426630e-01 1.17380893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.27, Y:39.01, Z:11.74 [[ 8.42637519e-01 -5.33632588e-01 -7.20990464e-02 1.33267692e+02] [ 5.31817315e-01 8.45715465e-01 -4.39965573e-02 3.90118557e+01] [ 8.44532753e-02 -1.27037130e-03 9.96426631e-01 1.17397056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:39.05, Z:11.75 [[ 8.45898645e-01 -5.28448985e-01 -7.20912762e-02 1.33316658e+02] [ 5.26613763e-01 8.48964738e-01 -4.40092857e-02 3.90450887e+01] [ 8.44596138e-02 -7.36863115e-04 9.96426631e-01 1.17479860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:39.07, Z:11.76 [[ 8.47770505e-01 -5.25441490e-01 -7.20861451e-02 1.33368194e+02] [ 5.23594676e-01 8.50829630e-01 -4.40176886e-02 3.90734848e+01] [ 8.44617480e-02 -4.27023673e-04 9.96426631e-01 1.17567254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:39.11, Z:11.77 [[ 8.42143490e-01 -5.34414269e-01 -7.20814209e-02 1.33416952e+02] [ 5.32599382e-01 8.45221663e-01 -4.40254234e-02 3.91059357e+01] [ 8.44525930e-02 -1.31479658e-03 9.96426631e-01 1.17657539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:39.13, Z:11.76 [[ 8.32962306e-01 -5.48616681e-01 -7.20661803e-02 1.33469386e+02] [ 5.46852094e-01 8.36069587e-01 -4.40503571e-02 3.91330520e+01] [ 8.44191023e-02 -2.71725457e-03 9.96426631e-01 1.17603144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:39.16, Z:11.77 [[ 8.21770060e-01 -5.65244371e-01 -7.20608706e-02 1.33519508e+02] [ 5.63541823e-01 8.24911762e-01 -4.40590414e-02 3.91614569e+01] [ 8.43479849e-02 -4.40291323e-03 9.96426631e-01 1.17662044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:39.20, Z:11.78 [[ 8.15784301e-01 -5.73849976e-01 -7.20567826e-02 1.33565487e+02] [ 5.72179954e-01 8.18943412e-01 -4.40657262e-02 3.91971391e+01] [ 8.42975433e-02 -5.28131890e-03 9.96426631e-01 1.17791893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:39.23, Z:11.78 [[ 8.15659625e-01 -5.74027954e-01 -7.20505643e-02 1.33614640e+02] [ 5.72357727e-01 8.18818629e-01 -4.40758912e-02 3.92303642e+01] [ 8.42971379e-02 -5.28777235e-03 9.96426632e-01 1.17846824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:39.28, Z:11.79 [[ 8.17378756e-01 -5.71578949e-01 -7.20380077e-02 1.33654553e+02] [ 5.69897456e-01 8.20531777e-01 -4.40964042e-02 3.92778517e+01] [ 8.43140508e-02 -5.01081341e-03 9.96426632e-01 1.17875946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.70, Y:39.32, Z:11.79 [[ 8.19115041e-01 -5.69089620e-01 -7.20246758e-02 1.33696245e+02] [ 5.67396637e-01 8.22261907e-01 -4.41181691e-02 3.93223063e+01] [ 8.43303394e-02 -4.72870295e-03 9.96426632e-01 1.17939962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:39.37, Z:11.80 [[ 8.18552599e-01 -5.69900088e-01 -7.20106335e-02 1.33736720e+02] [ 5.68208214e-01 8.21700061e-01 -4.41410774e-02 3.93682942e+01] [ 8.43271459e-02 -4.78523977e-03 9.96426633e-01 1.18028415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:39.41, Z:11.80 [[ 8.18306994e-01 -5.70254627e-01 -7.19952999e-02 1.33779909e+02] [ 5.68561927e-01 8.21454012e-01 -4.41660729e-02 3.94107036e+01] [ 8.43267354e-02 -4.79238011e-03 9.96426633e-01 1.18001080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.82, Y:39.46, Z:11.81 [[ 8.12713012e-01 -5.78200879e-01 -7.19812685e-02 1.33817915e+02] [ 5.76536910e-01 8.15875315e-01 -4.41889293e-02 3.94581305e+01] [ 8.42778179e-02 -5.58694034e-03 9.96426633e-01 1.18081394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.86, Y:39.50, Z:11.82 [[ 8.10394643e-01 -5.81446468e-01 -7.19758766e-02 1.33860933e+02] [ 5.79794385e-01 8.13563171e-01 -4.41977100e-02 3.95000427e+01] [ 8.42555248e-02 -5.91362169e-03 9.96426633e-01 1.18151679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:39.54, Z:11.82 [[ 8.12992893e-01 -5.77809705e-01 -7.19618037e-02 1.33903752e+02] [ 5.76141426e-01 8.16152923e-01 -4.42206114e-02 3.95405851e+01] [ 8.42829349e-02 -5.50913345e-03 9.96426634e-01 1.18245528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:39.59, Z:11.83 [[ 8.15141442e-01 -5.74775633e-01 -7.19541669e-02 1.33943409e+02] [ 5.73094497e-01 8.18294651e-01 -4.42330343e-02 3.95873712e+01] [ 8.43037801e-02 -5.18035776e-03 9.96426634e-01 1.18299066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:39.63, Z:11.83 [[ 8.11714350e-01 -5.79607174e-01 -7.19398262e-02 1.33989489e+02] [ 5.77942743e-01 8.14876409e-01 -4.42563454e-02 3.96275681e+01] [ 8.42733625e-02 -5.65358987e-03 9.96426634e-01 1.18263213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:134.03, Y:39.67, Z:11.84 [[ 8.13172634e-01 -5.77561016e-01 -7.19273225e-02 1.34032089e+02] [ 5.75886840e-01 8.16329544e-01 -4.42766578e-02 3.96679469e+01] [ 8.42888698e-02 -5.41743200e-03 9.96426634e-01 1.18365147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:39.72, Z:11.85 [[ 8.21432679e-01 -5.65752147e-01 -7.19226096e-02 1.34071339e+02] [ 5.64031868e-01 8.24564704e-01 -4.42843120e-02 3.97165777e+01] [ 8.43587899e-02 -4.19006276e-03 9.96426635e-01 1.18497426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.12, Y:39.76, Z:11.86 [[ 8.28825924e-01 -5.54865983e-01 -7.19119505e-02 1.34115032e+02] [ 5.53103036e-01 8.31934131e-01 -4.43016143e-02 3.97556010e+01] [ 8.44074649e-02 -3.05639176e-03 9.96426635e-01 1.18595016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:39.80, Z:11.87 [[ 8.32572478e-01 -5.49228984e-01 -7.19068330e-02 1.34156811e+02] [ 5.47444269e-01 8.35668238e-01 -4.43099191e-02 3.97993799e+01] [ 8.44265483e-02 -2.47376453e-03 9.96426635e-01 1.18696894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:39.84, Z:11.87 [[ 8.33894378e-01 -5.47221719e-01 -7.18926713e-02 1.34201643e+02] [ 5.45427573e-01 8.36984682e-01 -4.43328845e-02 3.98363309e+01] [ 8.44329819e-02 -2.24330210e-03 9.96426635e-01 1.18707171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:134.25, Y:39.88, Z:11.88 [[ 8.45465277e-01 -5.29171233e-01 -7.18767822e-02 1.34246118e+02] [ 5.27308888e-01 8.48514967e-01 -4.43586307e-02 3.98764827e+01] [ 8.44618367e-02 -3.97584094e-04 9.96426636e-01 1.18754735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:39.91, Z:11.87 [[ 8.57856724e-01 -5.08839509e-01 -7.18623371e-02 1.34295463e+02] [ 5.06902942e-01 8.60859828e-01 -4.43820199e-02 3.99100944e+01] [ 8.44467244e-02 1.64618412e-03 9.96426636e-01 1.18729387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:134.35, Y:39.93, Z:11.88 [[ 8.61637710e-01 -5.02411562e-01 -7.18545662e-02 1.34348432e+02] [ 5.00451548e-01 8.64625565e-01 -4.43945973e-02 3.99334744e+01] [ 8.44316539e-02 2.29233026e-03 9.96426636e-01 1.18770223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:134.40, Y:39.96, Z:11.89 [[ 8.64060070e-01 -4.98234801e-01 -7.18490013e-02 1.34402742e+02] [ 4.96259600e-01 8.67037906e-01 -4.44036019e-02 3.99572493e+01] [ 8.44192274e-02 2.71162273e-03 9.96426636e-01 1.18856175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:134.46, Y:39.97, Z:11.89 [[ 8.65721384e-01 -4.95344678e-01 -7.18340883e-02 1.34463651e+02] [ 4.93357539e-01 8.68691267e-01 -4.44277145e-02 3.99691550e+01] [ 8.44086771e-02 3.02213341e-03 9.96426637e-01 1.18880769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:39.98, Z:11.89 [[ 8.61835430e-01 -5.02076330e-01 -7.18265315e-02 1.34523211e+02] [ 5.00111379e-01 8.64820040e-01 -4.44399282e-02 3.99839584e+01] [ 8.44292599e-02 2.37863886e-03 9.96426637e-01 1.18944557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:134.58, Y:40.00, Z:11.90 [[ 8.56996178e-01 -5.10294670e-01 -7.18115654e-02 1.34583226e+02] [ 5.08356325e-01 8.59998134e-01 -4.44640992e-02 3.99988362e+01] [ 8.44476051e-02 1.59969958e-03 9.96426637e-01 1.19000076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.64, Y:40.01, Z:11.90 [[ 8.52123302e-01 -5.18392836e-01 -7.17965544e-02 1.34643389e+02] [ 5.16480984e-01 8.55142200e-01 -4.44883245e-02 4.00129090e+01] [ 8.44586922e-02 8.27982929e-04 9.96426637e-01 1.18980299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357105681 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:134.70, Y:40.03, Z:11.91 [[ 8.49479106e-01 -5.22715264e-01 -7.17913733e-02 1.34702507e+02] [ 5.20818067e-01 8.52507235e-01 -4.44966838e-02 4.00261964e+01] [ 8.44617609e-02 4.08758916e-04 9.96426637e-01 1.19081677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:40.04, Z:11.92 [[ 8.45132000e-01 -5.29717209e-01 -7.17745161e-02 1.34760591e+02] [ 5.27842793e-01 8.48174282e-01 -4.45238584e-02 4.00432362e+01] [ 8.44623526e-02 -2.57123595e-04 9.96426638e-01 1.19185185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:40.06, Z:11.93 [[ 8.38039956e-01 -5.40869333e-01 -7.17592893e-02 1.34816696e+02] [ 5.39033294e-01 8.41105552e-01 -4.45483861e-02 4.00628418e+01] [ 8.44519925e-02 -1.34731855e-03 9.96426638e-01 1.19253632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:40.09, Z:11.93 [[ 8.34261900e-01 -5.46681027e-01 -7.17421542e-02 1.34867613e+02] [ 5.44863969e-01 8.37338784e-01 -4.45759640e-02 4.00923487e+01] [ 8.44413219e-02 -1.90168645e-03 9.96426639e-01 1.19289559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:40.12, Z:11.94 [[ 8.32463417e-01 -5.49416854e-01 -7.17340897e-02 1.34917215e+02] [ 5.47608791e-01 8.35545594e-01 -4.45889381e-02 4.01220909e+01] [ 8.44350166e-02 -2.16355837e-03 9.96426639e-01 1.19360860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:40.16, Z:11.93 [[ 8.33605167e-01 -5.47684029e-01 -7.17260804e-02 1.34964705e+02] [ 5.45868450e-01 8.36682923e-01 -4.46018181e-02 4.01580561e+01] [ 8.44396900e-02 -1.97269836e-03 9.96426639e-01 1.19339719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:135.01, Y:40.20, Z:11.93 [[ 8.40652736e-01 -5.36805852e-01 -7.17109069e-02 1.35010289e+02] [ 5.34948354e-01 8.43705375e-01 -4.46262008e-02 4.01958772e+01] [ 8.44584834e-02 -8.46493824e-04 9.96426640e-01 1.19333669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:135.06, Y:40.23, Z:11.95 [[ 8.43493631e-01 -5.32331508e-01 -7.17053763e-02 1.35055034e+02] [ 5.30457061e-01 8.46535892e-01 -4.46350857e-02 4.02314009e+01] [ 8.44618371e-02 -3.87212696e-04 9.96426640e-01 1.19519345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:135.10, Y:40.26, Z:11.96 [[ 8.43923128e-01 -5.31652673e-01 -7.16881364e-02 1.35104471e+02] [ 5.29773428e-01 8.46962427e-01 -4.46627576e-02 4.02627574e+01] [ 8.44622324e-02 -2.86535640e-04 9.96426640e-01 1.19562107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:40.30, Z:11.96 [[ 8.40604227e-01 -5.36886881e-01 -7.16729421e-02 1.35150708e+02] [ 5.35024481e-01 8.43653877e-01 -4.46871274e-02 4.02990976e+01] [ 8.44590880e-02 -7.82590492e-04 9.96426641e-01 1.19632273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:40.33, Z:11.96 [[ 8.32954410e-01 -5.48682167e-01 -7.16577396e-02 1.35199355e+02] [ 5.46860844e-01 8.36028768e-01 -4.47114921e-02 4.03320423e+01] [ 8.44403301e-02 -1.94417746e-03 9.96426641e-01 1.19615896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:40.37, Z:11.97 [[ 8.25583004e-01 -5.59714210e-01 -7.16429128e-02 1.35245769e+02] [ 5.57931889e-01 8.28680135e-01 -4.47352371e-02 4.03693798e+01] [ 8.44080066e-02 -3.03921427e-03 9.96426641e-01 1.19651035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:135.29, Y:40.41, Z:11.97 [[ 8.21553149e-01 -5.65614552e-01 -7.16282283e-02 1.35288565e+02] [ 5.63852421e-01 8.24661811e-01 -4.47587371e-02 4.04105552e+01] [ 8.43852575e-02 -3.61606850e-03 9.96426642e-01 1.19745035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.33, Y:40.45, Z:11.98 [[ 8.16131157e-01 -5.73412092e-01 -7.16135969e-02 1.35331408e+02] [ 5.71677597e-01 8.19255323e-01 -4.47821351e-02 4.04513009e+01] [ 8.43484382e-02 -4.39179328e-03 9.96426642e-01 1.19770037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:40.49, Z:11.99 [[ 8.12244862e-01 -5.78904577e-01 -7.16084840e-02 1.35372526e+02] [ 5.77190480e-01 8.15380266e-01 -4.47903092e-02 4.04929622e+01] [ 8.43174597e-02 -4.95103679e-03 9.96426642e-01 1.19910273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:135.42, Y:40.53, Z:12.00 [[ 8.15132887e-01 -5.74831560e-01 -7.16034517e-02 1.35415341e+02] [ 5.73101086e-01 8.18259282e-01 -4.47983526e-02 4.05337762e+01] [ 8.43416959e-02 -4.51940540e-03 9.96426642e-01 1.19989423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.45, Y:40.58, Z:12.00 [[ 8.21920468e-01 -5.65085491e-01 -7.15900356e-02 1.35453279e+02] [ 5.63316053e-01 8.25024976e-01 -4.48197821e-02 4.05845055e+01] [ 8.43905759e-02 -3.48952007e-03 9.96426643e-01 1.20009942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:40.62, Z:12.01 [[ 8.25134176e-01 -5.60384119e-01 -7.15767465e-02 1.35495661e+02] [ 5.58595150e-01 8.28227471e-01 -4.48409946e-02 4.06245959e+01] [ 8.44100090e-02 -2.98258626e-03 9.96426643e-01 1.20088518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:135.54, Y:40.67, Z:12.02 [[ 8.30461131e-01 -5.52459729e-01 -7.15720410e-02 1.35537936e+02] [ 5.50640585e-01 8.33536777e-01 -4.48485040e-02 4.06679711e+01] [ 8.44349207e-02 -2.16553113e-03 9.96426643e-01 1.20156417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:40.71, Z:12.02 [[ 8.39910023e-01 -5.37987678e-01 -7.15570562e-02 1.35581403e+02] [ 5.36113480e-01 8.42952433e-01 -4.48723999e-02 4.07056854e+01] [ 8.44599929e-02 -6.73923956e-04 9.96426643e-01 1.20239569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:40.74, Z:12.02 [[ 8.47826427e-01 -5.25424306e-01 -7.15517160e-02 1.35628581e+02] [ 5.23504305e-01 8.50840141e-01 -4.48809136e-02 4.07424058e+01] [ 8.44605951e-02 5.93593231e-04 9.96426643e-01 1.20237100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617105681 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:40.77, Z:12.02 [[ 8.55713233e-01 -5.12480587e-01 -7.15437713e-02 1.35682658e+02] [ 5.10513955e-01 8.58696727e-01 -4.48935746e-02 4.07671096e+01] [ 8.44414877e-02 1.89193218e-03 9.96426643e-01 1.20193489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:135.74, Y:40.79, Z:12.02 [[ 8.58178589e-01 -5.08343508e-01 -7.15289332e-02 1.35736048e+02] [ 5.06360528e-01 8.61151241e-01 -4.49172037e-02 4.07926112e+01] [ 8.44305985e-02 2.32755410e-03 9.96426644e-01 1.20225614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737105681 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:40.81, Z:12.03 [[ 8.53486272e-01 -5.16184933e-01 -7.15143237e-02 1.35793345e+02] [ 5.14227325e-01 8.56475694e-01 -4.49404521e-02 4.08087549e+01] [ 8.44478642e-02 1.58143964e-03 9.96426644e-01 1.20310264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:40.82, Z:12.05 [[ 8.43458593e-01 -5.32415041e-01 -7.14970379e-02 1.35852871e+02] [ 5.30512640e-01 8.46483446e-01 -4.49679358e-02 4.08232076e+01] [ 8.44626644e-02 -1.49042149e-06 9.96426645e-01 1.20456028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:135.91, Y:40.84, Z:12.05 [[ 8.40989123e-01 -5.36309248e-01 -7.14820676e-02 1.35908484e+02] [ 5.34418831e-01 8.44021480e-01 -4.49917204e-02 4.08441781e+01] [ 8.44618762e-02 -3.63815621e-04 9.96426645e-01 1.20521668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:40.87, Z:12.05 [[ 8.45081004e-01 -5.29840112e-01 -7.14671435e-02 1.35961741e+02] [ 5.27924478e-01 8.48097493e-01 -4.50154142e-02 4.08711811e+01] [ 8.44620774e-02 3.12416929e-04 9.96426646e-01 1.20512385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:40.89, Z:12.05 [[ 8.56213172e-01 -5.11657666e-01 -7.14523450e-02 1.36019257e+02] [ 5.09676042e-01 8.59186726e-01 -4.50388915e-02 4.08906937e+01] [ 8.44354005e-02 2.14534368e-03 9.96426646e-01 1.20539898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:40.91, Z:12.06 [[ 8.59704371e-01 -5.05771802e-01 -7.14372372e-02 1.36075482e+02] [ 5.03767838e-01 8.62662916e-01 -4.50628416e-02 4.09096501e+01] [ 8.44177699e-02 2.75293933e-03 9.96426646e-01 1.20645327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:40.92, Z:12.07 [[ 8.59859179e-01 -5.05509328e-01 -7.14318647e-02 1.36135366e+02] [ 5.03503754e-01 8.62816633e-01 -4.50713564e-02 4.09244889e+01] [ 8.44165920e-02 2.78880745e-03 9.96426646e-01 1.20746460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:40.94, Z:12.08 [[ 8.54894877e-01 -5.13862255e-01 -7.14166022e-02 1.36192345e+02] [ 5.11883572e-01 8.57870388e-01 -4.50955272e-02 4.09429335e+01] [ 8.44390776e-02 1.99494975e-03 9.96426647e-01 1.20780344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:40.96, Z:12.08 [[ 8.49161717e-01 -5.23282717e-01 -7.14113122e-02 1.36249931e+02] [ 5.21336348e-01 8.52158466e-01 -4.51039027e-02 4.09608710e+01] [ 8.44558470e-02 1.07119480e-03 9.96426647e-01 1.20807997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.31, Y:40.98, Z:12.09 [[ 8.45519661e-01 -5.29149309e-01 -7.13968635e-02 1.36305382e+02] [ 5.27221804e-01 8.48528576e-01 -4.51267626e-02 4.09819351e+01] [ 8.44610742e-02 5.13581895e-04 9.96426647e-01 1.20881970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:41.00, Z:12.09 [[ 8.46646010e-01 -5.27347228e-01 -7.13823145e-02 1.36361577e+02] [ 5.25411379e-01 8.49649564e-01 -4.51497649e-02 4.10033896e+01] [ 8.44595557e-02 7.20787987e-04 9.96426648e-01 1.20915848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:41.02, Z:12.10 [[ 8.48232739e-01 -5.24793130e-01 -7.13680007e-02 1.36418176e+02] [ 5.22846334e-01 8.51229209e-01 -4.51723793e-02 4.10215737e+01] [ 8.44566811e-02 1.00219351e-03 9.96426648e-01 1.20965274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:41.04, Z:12.10 [[ 8.47749369e-01 -5.25575766e-01 -7.13520970e-02 1.36473188e+02] [ 5.23629624e-01 8.50746263e-01 -4.51974862e-02 4.10426630e+01] [ 8.44572333e-02 9.54068626e-04 9.96426648e-01 1.21032170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:136.53, Y:41.07, Z:12.10 [[ 8.54269961e-01 -5.14911936e-01 -7.13339485e-02 1.36526228e+02] [ 5.12926006e-01 8.57240638e-01 -4.52261113e-02 4.10677870e+01] [ 8.44378241e-02 2.04627097e-03 9.96426649e-01 1.20978033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:41.09, Z:12.10 [[ 8.60035768e-01 -5.05223446e-01 -7.13284466e-02 1.36581270e+02] [ 5.03203348e-01 8.62983317e-01 -4.52347870e-02 4.10892645e+01] [ 8.44089344e-02 3.01082163e-03 9.96426649e-01 1.21039963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:136.63, Y:41.11, Z:12.12 [[ 8.61567519e-01 -5.02609031e-01 -7.13131967e-02 1.36633433e+02] [ 5.00578005e-01 8.64507548e-01 -4.52588160e-02 4.11142489e+01] [ 8.43982864e-02 3.29570814e-03 9.96426649e-01 1.21192711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:41.14, Z:12.12 [[ 8.62709750e-01 -5.00648216e-01 -7.12969218e-02 1.36685517e+02] [ 4.98608396e-01 8.65643684e-01 -4.52844397e-02 4.11398101e+01] [ 8.43893039e-02 3.51808387e-03 9.96426650e-01 1.21247681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.74, Y:41.17, Z:12.13 [[ 8.61985927e-01 -5.01894227e-01 -7.12912768e-02 1.36736881e+02] [ 4.99857915e-01 8.64922297e-01 -4.52933248e-02 4.11673158e+01] [ 8.43938731e-02 3.40669951e-03 9.96426650e-01 1.21312357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:41.19, Z:12.14 [[ 8.56923653e-01 -5.10491954e-01 -7.12728435e-02 1.36791382e+02] [ 5.08482709e-01 8.59878609e-01 -4.53223128e-02 4.11890406e+01] [ 8.44226695e-02 2.59675330e-03 9.96426650e-01 1.21360598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:136.84, Y:41.21, Z:12.15 [[ 8.52670326e-01 -5.17565744e-01 -7.12672119e-02 1.36843489e+02] [ 5.15580282e-01 8.55641314e-01 -4.53311664e-02 4.12127068e+01] [ 8.44410297e-02 1.90857129e-03 9.96426651e-01 1.21488378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:41.24, Z:12.14 [[ 8.52523130e-01 -5.17810484e-01 -7.12503673e-02 1.36899577e+02] [ 5.15823665e-01 8.55493210e-01 -4.53576269e-02 4.12353027e+01] [ 8.44408602e-02 1.91580053e-03 9.96426651e-01 1.21386461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:41.26, Z:12.15 [[ 8.50771850e-01 -5.20684707e-01 -7.12368985e-02 1.36954302e+02] [ 5.18706153e-01 8.53747442e-01 -4.53787707e-02 4.12560939e+01] [ 8.44463518e-02 1.65596310e-03 9.96426651e-01 1.21529434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:137.01, Y:41.28, Z:12.16 [[ 8.47251858e-01 -5.26393750e-01 -7.12313788e-02 1.37005295e+02] [ 5.24434522e-01 8.50240209e-01 -4.53874334e-02 4.12843150e+01] [ 8.44554437e-02 1.09839313e-03 9.96426651e-01 1.21604665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:137.06, Y:41.31, Z:12.17 [[ 8.38047527e-01 -5.40929332e-01 -7.12165727e-02 1.37059132e+02] [ 5.39019966e-01 8.41067981e-01 -4.54106535e-02 4.13067150e+01] [ 8.44619335e-02 -3.30868768e-04 9.96426652e-01 1.21683718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:137.11, Y:41.34, Z:12.17 [[ 8.24323721e-01 -5.61622059e-01 -7.12114178e-02 1.37106611e+02] [ 5.59787772e-01 8.27390349e-01 -4.54187358e-02 4.13386682e+01] [ 8.44278038e-02 -2.42353960e-03 9.96426652e-01 1.21745734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:137.15, Y:41.37, Z:12.17 [[ 8.17164063e-01 -5.71989993e-01 -7.12063350e-02 1.37154940e+02] [ 5.70193896e-01 8.20253214e-01 -4.54267032e-02 4.13706843e+01] [ 8.43908448e-02 -3.48034821e-03 9.96426652e-01 1.21727022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:41.41, Z:12.19 [[ 8.12389928e-01 -5.78751222e-01 -7.12013286e-02 1.37199213e+02] [ 5.76980136e-01 8.15493485e-01 -4.54345487e-02 4.14088378e+01] [ 8.43595202e-02 -4.17118251e-03 9.96426652e-01 1.21856837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:137.24, Y:41.46, Z:12.20 [[ 8.10138219e-01 -5.81900681e-01 -7.11875273e-02 1.37235752e+02] [ 5.80139765e-01 8.13247558e-01 -4.54561626e-02 4.14587969e+01] [ 8.43440547e-02 -4.47294075e-03 9.96426652e-01 1.21980301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:41.50, Z:12.20 [[ 8.11795494e-01 -5.79588413e-01 -7.11712556e-02 1.37277938e+02] [ 5.77816414e-01 8.14898530e-01 -4.54816252e-02 4.15007182e+01] [ 8.43579745e-02 -4.20214135e-03 9.96426653e-01 1.22027227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:137.32, Y:41.55, Z:12.21 [[ 8.14591836e-01 -5.75653861e-01 -7.11531568e-02 1.37315567e+02] [ 5.73864404e-01 8.17684837e-01 -4.55099221e-02 4.15490502e+01] [ 8.43788198e-02 -3.76025295e-03 9.96426653e-01 1.22053209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.35, Y:41.60, Z:12.21 [[ 8.20769283e-01 -5.66813506e-01 -7.11353170e-02 1.37354940e+02] [ 5.64988303e-01 8.23841324e-01 -4.55377901e-02 4.15953993e+01] [ 8.44156482e-02 -2.81460273e-03 9.96426654e-01 1.22065470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:41.64, Z:12.21 [[ 8.32686788e-01 -5.49158509e-01 -7.11171270e-02 1.37393905e+02] [ 5.47265701e-01 8.35717641e-01 -4.55661801e-02 4.16425053e+01] [ 8.44568932e-02 -9.77608182e-04 9.96426654e-01 1.22122063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:137.43, Y:41.69, Z:12.22 [[ 8.47436599e-01 -5.26113859e-01 -7.11014565e-02 1.37429762e+02] [ 5.24136586e-01 8.50413038e-01 -4.55906193e-02 4.16935158e+01] [ 8.44514623e-02 1.36828470e-03 9.96426655e-01 1.22180070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:137.48, Y:41.73, Z:12.22 [[ 8.49783737e-01 -5.22315400e-01 -7.10930635e-02 1.37476903e+02] [ 5.20323730e-01 8.52750560e-01 -4.56037034e-02 4.17293352e+01] [ 8.44441664e-02 1.76187752e-03 9.96426655e-01 1.22168315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.53, Y:41.76, Z:12.21 [[ 8.45646642e-01 -5.28989290e-01 -7.10780360e-02 1.37527116e+02] [ 5.27019071e-01 8.48627754e-01 -4.56271134e-02 4.17613451e+01] [ 8.44550484e-02 1.12493472e-03 9.96426655e-01 1.22120318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:41.79, Z:12.23 [[ 8.38231552e-01 -5.40664338e-01 -7.10629240e-02 1.37578047e+02] [ 5.38733651e-01 8.41238416e-01 -4.56506378e-02 4.17892415e+01] [ 8.44625335e-02 -1.81835064e-05 9.96426656e-01 1.22269632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:41.81, Z:12.23 [[ 8.32592758e-01 -5.49309999e-01 -7.10480410e-02 1.37632064e+02] [ 5.47408556e-01 8.35618201e-01 -4.56737891e-02 4.18142944e+01] [ 8.44581053e-02 -8.64639506e-04 9.96426656e-01 1.22308643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:41.85, Z:12.23 [[ 8.29539501e-01 -5.53912178e-01 -7.10317971e-02 1.37681196e+02] [ 5.52025356e-01 8.32574083e-01 -4.56990378e-02 4.18452660e+01] [ 8.44524869e-02 -1.30219609e-03 9.96426656e-01 1.22325828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:41.87, Z:12.25 [[ 8.22713775e-01 -5.64002797e-01 -7.10133061e-02 1.37735067e+02] [ 5.62150704e-01 8.25769676e-01 -4.57277536e-02 4.18667024e+01] [ 8.44312157e-02 -2.29932728e-03 9.96426657e-01 1.22501476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:41.90, Z:12.25 [[ 8.22282765e-01 -5.64631688e-01 -7.10078214e-02 1.37784410e+02] [ 5.62781198e-01 8.25339637e-01 -4.57362690e-02 4.19001566e+01] [ 8.44297163e-02 -2.35372108e-03 9.96426657e-01 1.22466620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:41.93, Z:12.26 [[ 8.28217609e-01 -5.55891880e-01 -7.09916230e-02 1.37833521e+02] [ 5.54006967e-01 8.31253376e-01 -4.57613982e-02 4.19309082e+01] [ 8.44504160e-02 -1.42945799e-03 9.96426658e-01 1.22557749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:41.96, Z:12.27 [[ 8.31742165e-01 -5.50606448e-01 -7.09754262e-02 1.37880159e+02] [ 5.48700099e-01 8.34764516e-01 -4.57865057e-02 4.19642570e+01] [ 8.44581125e-02 -8.61656016e-04 9.96426658e-01 1.22735087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:42.00, Z:12.27 [[ 8.41536168e-01 -5.35518295e-01 -7.09720557e-02 1.37926624e+02] [ 5.33557315e-01 8.44523362e-01 -4.57917295e-02 4.19989017e+01] [ 8.44598680e-02 6.67737124e-04 9.96426658e-01 1.22734741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.98, Y:42.03, Z:12.26 [[ 8.47237762e-01 -5.26453769e-01 -7.09549438e-02 1.37977397e+02] [ 5.24458616e-01 8.50202241e-01 -4.58182293e-02 4.20306005e+01] [ 8.44472317e-02 1.60600243e-03 9.96426659e-01 1.22607571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:42.06, Z:12.26 [[ 8.50107398e-01 -5.21809268e-01 -7.09401157e-02 1.38028524e+02] [ 5.19796008e-01 8.53059609e-01 -4.58411761e-02 4.20601998e+01] [ 8.44364980e-02 2.09553396e-03 9.96426659e-01 1.22584871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:42.08, Z:12.27 [[ 8.48914874e-01 -5.23749079e-01 -7.09255829e-02 1.38080757e+02] [ 5.21740689e-01 8.51870400e-01 -4.58636504e-02 4.20842613e+01] [ 8.44404494e-02 1.92957254e-03 9.96426659e-01 1.22676657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:42.11, Z:12.28 [[ 8.42850683e-01 -5.33453848e-01 -7.09205055e-02 1.38134232e+02] [ 5.31478837e-01 8.45828618e-01 -4.58715004e-02 4.21093028e+01] [ 8.44569216e-02 9.70077715e-04 9.96426659e-01 1.22761503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:42.13, Z:12.28 [[ 8.36244470e-01 -5.43753271e-01 -7.09053445e-02 1.38189332e+02] [ 5.41812954e-01 8.39245125e-01 -4.58949235e-02 4.21297982e+01] [ 8.44624794e-02 -3.80581205e-05 9.96426660e-01 1.22783282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:42.16, Z:12.28 [[ 8.34544035e-01 -5.46360442e-01 -7.08979644e-02 1.38239161e+02] [ 5.44428531e-01 8.37550108e-01 -4.59063214e-02 4.21590758e+01] [ 8.44619958e-02 -2.88027981e-04 9.96426660e-01 1.22814118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:42.18, Z:12.29 [[ 8.31443138e-01 -5.51069839e-01 -7.08825869e-02 1.38291622e+02] [ 5.49152930e-01 8.34458800e-01 -4.59300531e-02 4.21845475e+01] [ 8.44592654e-02 -7.37152779e-04 9.96426660e-01 1.22867676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:42.21, Z:12.29 [[ 8.28009268e-01 -5.56218289e-01 -7.08651358e-02 1.38345055e+02] [ 5.54317827e-01 8.31035321e-01 -4.59569626e-02 4.22092160e+01] [ 8.44535340e-02 -1.22901711e-03 9.96426661e-01 1.22922955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.40, Y:42.24, Z:12.30 [[ 8.24428785e-01 -5.61513583e-01 -7.08496639e-02 1.38395717e+02] [ 5.59630506e-01 8.27465687e-01 -4.59808026e-02 4.22353415e+01] [ 8.44445110e-02 -1.74173598e-03 9.96426661e-01 1.23033519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:42.26, Z:12.31 [[ 8.23916230e-01 -5.62266218e-01 -7.08431049e-02 1.38447929e+02] [ 5.60385047e-01 8.26954313e-01 -4.59909058e-02 4.22639221e+01] [ 8.44431439e-02 -1.80676291e-03 9.96426661e-01 1.23053184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.49, Y:42.30, Z:12.32 [[ 8.30609442e-01 -5.52332435e-01 -7.08296264e-02 1.38494666e+02] [ 5.50413151e-01 8.33623591e-01 -4.60116545e-02 4.22993008e+01] [ 8.44589767e-02 -7.67843229e-04 9.96426661e-01 1.23176769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:138.54, Y:42.33, Z:12.32 [[ 8.39272563e-01 -5.39079647e-01 -7.08145321e-02 1.38540802e+02] [ 5.37110806e-01 8.42254577e-01 -4.60348738e-02 4.23330760e+01] [ 8.44603274e-02 6.00556183e-04 9.96426662e-01 1.23177687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.59, Y:42.37, Z:12.32 [[ 8.49090952e-01 -5.23480148e-01 -7.08031687e-02 1.38588390e+02] [ 5.21455088e-01 8.52035077e-01 -4.60523445e-02 4.23665276e+01] [ 8.44342715e-02 2.18195646e-03 9.96426662e-01 1.23240445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.64, Y:42.39, Z:12.33 [[ 8.53361318e-01 -5.16491752e-01 -7.07865142e-02 1.38639424e+02] [ 5.14440470e-01 8.56287234e-01 -4.60779298e-02 4.23918937e+01] [ 8.44124592e-02 2.90567522e-03 9.96426663e-01 1.23285403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:42.42, Z:12.32 [[ 8.50939221e-01 -5.20473546e-01 -7.07794434e-02 1.38693691e+02] [ 5.18435056e-01 8.53874064e-01 -4.60887887e-02 4.24154611e+01] [ 8.44247262e-02 2.52421328e-03 9.96426663e-01 1.23231450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:42.43, Z:12.32 [[ 8.45909616e-01 -5.28610880e-01 -7.07634005e-02 1.38751589e+02] [ 5.26598573e-01 8.48862472e-01 -4.61134074e-02 4.24345529e+01] [ 8.44444439e-02 1.74386903e-03 9.96426663e-01 1.23246595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:42.46, Z:12.33 [[ 8.40294665e-01 -5.37493602e-01 -7.07495832e-02 1.38805897e+02] [ 5.35510732e-01 8.43267368e-01 -4.61345969e-02 4.24572654e+01] [ 8.44578655e-02 8.79494534e-04 9.96426663e-01 1.23334558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:42.48, Z:12.34 [[ 8.36124776e-01 -5.43959540e-01 -7.07345558e-02 1.38861409e+02] [ 5.41997712e-01 8.39111407e-01 -4.61576258e-02 4.24756650e+01] [ 8.44620535e-02 2.55567107e-04 9.96426664e-01 1.23381669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:42.50, Z:12.34 [[ 8.32354234e-01 -5.49712726e-01 -7.07272861e-02 1.38912403e+02] [ 5.47770595e-01 8.35353710e-01 -4.61687625e-02 4.25024130e+01] [ 8.44618571e-02 -3.13562604e-04 9.96426664e-01 1.23432191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457105681 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:138.96, Y:42.53, Z:12.35 [[ 8.34402163e-01 -5.46601486e-01 -7.07095930e-02 1.38963840e+02] [ 5.44645875e-01 8.37392868e-01 -4.61958445e-02 4.25269727e+01] [ 8.44624260e-02 3.42243786e-05 9.96426664e-01 1.23497613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:139.01, Y:42.55, Z:12.36 [[ 8.37872458e-01 -5.41267923e-01 -7.07020509e-02 1.39014970e+02] [ 5.39292302e-01 8.40849981e-01 -4.62073846e-02 4.25537377e+01] [ 8.44603933e-02 5.86823156e-04 9.96426664e-01 1.23623166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:139.07, Y:42.58, Z:12.36 [[ 8.42222765e-01 -5.34475947e-01 -7.06843344e-02 1.39065065e+02] [ 5.32474044e-01 8.45182682e-01 -4.62344701e-02 4.25838065e+01] [ 8.44523875e-02 1.30214990e-03 9.96426665e-01 1.23642731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:139.12, Y:42.61, Z:12.36 [[ 8.47747481e-01 -5.25671373e-01 -7.06669392e-02 1.39120480e+02] [ 5.23636525e-01 8.50684845e-01 -4.62610426e-02 4.26052928e+01] [ 8.44334000e-02 2.21389194e-03 9.96426665e-01 1.23645768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:139.18, Y:42.63, Z:12.37 [[ 8.47067366e-01 -5.26768956e-01 -7.06494515e-02 1.39175128e+02] [ 5.24735689e-01 8.50005825e-01 -4.62877344e-02 4.26283655e+01] [ 8.44353868e-02 2.13654061e-03 9.96426666e-01 1.23672081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:139.23, Y:42.65, Z:12.36 [[ 8.48309525e-01 -5.24768558e-01 -7.06322213e-02 1.39232174e+02] [ 5.22726177e-01 8.51241656e-01 -4.63140117e-02 4.26503809e+01] [ 8.44292261e-02 2.36730632e-03 9.96426666e-01 1.23636271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:139.28, Y:42.67, Z:12.37 [[ 8.49621898e-01 -5.22643249e-01 -7.06163186e-02 1.39284612e+02] [ 5.20591522e-01 8.52547497e-01 -4.63382463e-02 4.26733189e+01] [ 8.44221373e-02 2.60773205e-03 9.96426667e-01 1.23679511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:42.69, Z:12.37 [[ 8.46318441e-01 -5.27976812e-01 -7.06086666e-02 1.39342315e+02] [ 5.25942555e-01 8.49256213e-01 -4.63499034e-02 4.26926274e+01] [ 8.44365230e-02 2.09067544e-03 9.96426667e-01 1.23736362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:139.40, Y:42.72, Z:12.37 [[ 8.39125761e-01 -5.39336985e-01 -7.05944266e-02 1.39396405e+02] [ 5.37340690e-01 8.42089460e-01 -4.63715818e-02 4.27182391e+01] [ 8.44567317e-02 9.78330986e-04 9.96426667e-01 1.23713876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:42.74, Z:12.38 [[ 8.37100402e-01 -5.42477125e-01 -7.05796400e-02 1.39450201e+02] [ 5.40490051e-01 8.40070291e-01 -4.63940768e-02 4.27401673e+01] [ 8.44595842e-02 6.88907107e-04 9.96426668e-01 1.23834799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:42.77, Z:12.39 [[ 8.35619723e-01 -5.44755905e-01 -7.05739580e-02 1.39503197e+02] [ 5.42776200e-01 8.38594529e-01 -4.64027186e-02 4.27655329e+01] [ 8.44610900e-02 4.69162070e-04 9.96426668e-01 1.23883144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:42.79, Z:12.39 [[ 8.34482668e-01 -5.46497888e-01 -7.05601591e-02 1.39556554e+02] [ 5.44522620e-01 8.37460421e-01 -4.64236919e-02 4.27907140e+01] [ 8.44617901e-02 3.18163596e-04 9.96426668e-01 1.23899928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:139.61, Y:42.82, Z:12.40 [[ 8.32687269e-01 -5.49230554e-01 -7.05528897e-02 1.39607463e+02] [ 5.47264123e-01 8.35670865e-01 -4.64347370e-02 4.28174363e+01] [ 8.44623707e-02 5.45490151e-05 9.96426668e-01 1.23972206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.66, Y:42.84, Z:12.40 [[ 8.27526211e-01 -5.56978564e-01 -7.05354447e-02 1.39659939e+02] [ 5.55037808e-01 8.30526572e-01 -4.64612213e-02 4.28446388e+01] [ 8.44594654e-02 -7.01960152e-04 9.96426669e-01 1.24049928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:139.71, Y:42.87, Z:12.41 [[ 8.25340611e-01 -5.60214086e-01 -7.05198743e-02 1.39709880e+02] [ 5.58283074e-01 8.28347252e-01 -4.64848425e-02 4.28725518e+01] [ 8.44564076e-02 -1.00422384e-03 9.96426669e-01 1.24148010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:42.91, Z:12.42 [[ 8.22393016e-01 -5.64533279e-01 -7.05117325e-02 1.39756122e+02] [ 5.62616997e-01 8.25409066e-01 -4.64971893e-02 4.29093616e+01] [ 8.44502340e-02 -1.43213552e-03 9.96426669e-01 1.24208980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:42.95, Z:12.43 [[ 8.17181576e-01 -5.72052935e-01 -7.04961784e-02 1.39801134e+02] [ 5.70162367e-01 8.20213810e-01 -4.65207596e-02 4.29461306e+01] [ 8.44342761e-02 -2.17836033e-03 9.96426670e-01 1.24255690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:42.98, Z:12.43 [[ 8.16288952e-01 -5.73328165e-01 -7.04780989e-02 1.39846795e+02] [ 5.71439972e-01 8.19322665e-01 -4.65481337e-02 4.29825046e+01] [ 8.44316599e-02 -2.27727565e-03 9.96426670e-01 1.24332755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:43.02, Z:12.44 [[ 8.16824315e-01 -5.72567126e-01 -7.04622198e-02 1.39891921e+02] [ 5.70674036e-01 8.19854974e-01 -4.65721583e-02 4.30184735e+01] [ 8.44344882e-02 -2.16968810e-03 9.96426670e-01 1.24375484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:43.06, Z:12.44 [[ 8.17756916e-01 -5.71236600e-01 -7.04441204e-02 1.39935690e+02] [ 5.69336223e-01 8.20783010e-01 -4.65995192e-02 4.30563708e+01] [ 8.44386880e-02 -1.99931036e-03 9.96426671e-01 1.24403399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:139.98, Y:43.09, Z:12.44 [[ 8.19882975e-01 -5.68181860e-01 -7.04363705e-02 1.39982288e+02] [ 5.66269201e-01 8.22901321e-01 -4.66112303e-02 4.30917424e+01] [ 8.44458379e-02 -1.67019315e-03 9.96426671e-01 1.24448871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:43.13, Z:12.45 [[ 8.22653088e-01 -5.64165834e-01 -7.04188022e-02 1.40025665e+02] [ 5.62236169e-01 8.25660590e-01 -4.66377570e-02 4.31297312e+01] [ 8.44534589e-02 -1.22530280e-03 9.96426672e-01 1.24469657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:43.17, Z:12.44 [[ 8.31341154e-01 -5.51284045e-01 -7.04115530e-02 1.40070459e+02] [ 5.49306843e-01 8.34317620e-01 -4.66486990e-02 4.31693766e+01] [ 8.44622828e-02 1.03435373e-04 9.96426672e-01 1.24449572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:43.21, Z:12.44 [[ 8.38620956e-01 -5.40147586e-01 -7.03951581e-02 1.40116452e+02] [ 5.38128788e-01 8.41569367e-01 -4.66734267e-02 4.32060501e+01] [ 8.44529473e-02 1.25965260e-03 9.96426672e-01 1.24449767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:43.24, Z:12.45 [[ 8.45522397e-01 -5.29281243e-01 -7.03792803e-02 1.40162289e+02] [ 5.27222577e-01 8.48443110e-01 -4.66973566e-02 4.32407506e+01] [ 8.44288504e-02 2.37811534e-03 9.96426673e-01 1.24520131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:140.22, Y:43.27, Z:12.46 [[ 8.49597897e-01 -5.22714903e-01 -7.03743086e-02 1.40215278e+02] [ 5.20633052e-01 8.52502130e-01 -4.67048480e-02 4.32671045e+01] [ 8.44075681e-02 3.04114963e-03 9.96426673e-01 1.24601592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:43.30, Z:12.46 [[ 8.49159977e-01 -5.23428093e-01 -7.03588258e-02 1.40266536e+02] [ 5.21346753e-01 8.52064576e-01 -4.67281605e-02 4.32951324e+01] [ 8.44090950e-02 2.99833829e-03 9.96426673e-01 1.24647198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:43.32, Z:12.47 [[ 8.47079443e-01 -5.26790762e-01 -7.03413823e-02 1.40320829e+02] [ 5.24718779e-01 8.49990722e-01 -4.67544042e-02 4.33199654e+01] [ 8.44193106e-02 2.69525038e-03 9.96426673e-01 1.24687750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:43.34, Z:12.48 [[ 8.45083220e-01 -5.29989117e-01 -7.03270064e-02 1.40375247e+02] [ 5.27926357e-01 8.48001041e-01 -4.67760181e-02 4.33421272e+01] [ 8.44281552e-02 2.40214769e-03 9.96426674e-01 1.24833283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:43.37, Z:12.49 [[ 8.44792618e-01 -5.30454284e-01 -7.03113497e-02 1.40429517e+02] [ 5.28391175e-01 8.47710192e-01 -4.67995407e-02 4.33669421e+01] [ 8.44286646e-02 2.38400988e-03 9.96426674e-01 1.24894890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.49, Y:43.39, Z:12.49 [[ 8.46811818e-01 -5.27226863e-01 -7.02963755e-02 1.40487034e+02] [ 5.25150773e-01 8.49720168e-01 -4.68220224e-02 4.33876358e+01] [ 8.44180760e-02 2.73324601e-03 9.96426675e-01 1.24871763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:43.41, Z:12.49 [[ 8.49332919e-01 -5.23157874e-01 -7.02810927e-02 1.40542168e+02] [ 5.21065960e-01 8.52229908e-01 -4.68449510e-02 4.34089461e+01] [ 8.44029542e-02 3.16587394e-03 9.96426675e-01 1.24916528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.60, Y:43.43, Z:12.50 [[ 8.51082535e-01 -5.20307789e-01 -7.02731972e-02 1.40597521e+02] [ 5.18205200e-01 8.53971786e-01 -4.68567922e-02 4.34296317e+01] [ 8.43912818e-02 3.46306131e-03 9.96426675e-01 1.24975451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.66, Y:43.44, Z:12.50 [[ 8.54980848e-01 -5.13877562e-01 -7.02680704e-02 1.40657779e+02] [ 5.11752624e-01 8.57853701e-01 -4.68644794e-02 4.34440762e+01] [ 8.43623287e-02 4.10836290e-03 9.96426675e-01 1.25039588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:43.47, Z:12.50 [[ 8.57736362e-01 -5.09267001e-01 -7.02527920e-02 1.40712718e+02] [ 5.07124759e-01 8.60596336e-01 -4.68873716e-02 4.34661331e+01] [ 8.43374865e-02 4.59007327e-03 9.96426675e-01 1.25030634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:43.49, Z:12.51 [[ 8.57538745e-01 -5.09601749e-01 -7.02378763e-02 1.40768483e+02] [ 5.07458802e-01 8.60398189e-01 -4.69097049e-02 4.34871690e+01] [ 8.43378092e-02 4.58406092e-03 9.96426676e-01 1.25123219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.83, Y:43.50, Z:12.52 [[ 8.51554536e-01 -5.19541781e-01 -7.02225740e-02 1.40827612e+02] [ 5.17430356e-01 8.54437334e-01 -4.69326009e-02 4.35029504e+01] [ 8.43842360e-02 3.63037779e-03 9.96426676e-01 1.25193111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.88, Y:43.53, Z:12.53 [[ 8.46687513e-01 -5.27436988e-01 -7.02173661e-02 1.40882807e+02] [ 5.25351813e-01 8.49589355e-01 -4.69403913e-02 4.35252217e+01] [ 8.44140254e-02 2.85502260e-03 9.96426676e-01 1.25265094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:43.55, Z:12.53 [[ 8.42327975e-01 -5.34373670e-01 -7.02023076e-02 1.40938014e+02] [ 5.32310526e-01 8.45245521e-01 -4.69629015e-02 4.35475477e+01] [ 8.44339241e-02 2.18873838e-03 9.96426677e-01 1.25309167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797105681 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:43.57, Z:12.54 [[ 8.40302676e-01 -5.37554667e-01 -7.01882704e-02 1.40991501e+02] [ 5.35500818e-01 8.43226773e-01 -4.69838715e-02 4.35722735e+01] [ 8.44410281e-02 1.89479678e-03 9.96426677e-01 1.25384187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.04, Y:43.60, Z:12.55 [[ 8.36613746e-01 -5.43280061e-01 -7.01727552e-02 1.41042741e+02] [ 5.41244285e-01 8.39550453e-01 -4.70070328e-02 4.36000863e+01] [ 8.44515521e-02 1.34612710e-03 9.96426677e-01 1.25489721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917105681 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:43.63, Z:12.55 [[ 8.35888822e-01 -5.44396650e-01 -7.01581344e-02 1.41092815e+02] [ 5.42362967e-01 8.38826979e-01 -4.70288443e-02 4.36283152e+01] [ 8.44528812e-02 1.25971138e-03 9.96426678e-01 1.25541736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:43.66, Z:12.56 [[ 8.37324523e-01 -5.42186552e-01 -7.01525978e-02 1.41142659e+02] [ 5.40144422e-01 8.40256815e-01 -4.70371017e-02 4.36574201e+01] [ 8.44490824e-02 1.49278436e-03 9.96426678e-01 1.25593922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:141.19, Y:43.69, Z:12.56 [[ 8.37735075e-01 -5.41554328e-01 -7.01345394e-02 1.41191268e+02] [ 5.39507733e-01 8.40664252e-01 -4.70640125e-02 4.36886547e+01] [ 8.44473197e-02 1.58904769e-03 9.96426678e-01 1.25616441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:43.72, Z:12.57 [[ 8.33868501e-01 -5.47491382e-01 -7.01178251e-02 1.41242173e+02] [ 5.45463553e-01 8.36810700e-01 -4.70889009e-02 4.37176979e+01] [ 8.44561138e-02 1.01923320e-03 9.96426679e-01 1.25651491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:141.29, Y:43.75, Z:12.57 [[ 8.25183601e-01 -5.60497552e-01 -7.01036310e-02 1.41291327e+02] [ 5.58514306e-01 8.28156034e-01 -4.71100230e-02 4.37498471e+01] [ 8.44617976e-02 -2.79462426e-04 9.96426679e-01 1.25667466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:43.78, Z:12.58 [[ 8.16984318e-01 -5.72384646e-01 -7.00888153e-02 1.41343017e+02] [ 5.70442748e-01 8.19983927e-01 -4.71320551e-02 4.37759252e+01] [ 8.44493666e-02 -1.47550652e-03 9.96426679e-01 1.25773079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:43.81, Z:12.58 [[ 8.08964647e-01 -5.83664990e-01 -7.00812376e-02 1.41391014e+02] [ 5.81763923e-01 8.11990298e-01 -4.71433198e-02 4.38082416e+01] [ 8.44211903e-02 -2.63345664e-03 9.96426679e-01 1.25810784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337105681 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:43.84, Z:12.60 [[ 8.07477811e-01 -5.85721306e-01 -7.00723665e-02 1.41437789e+02] [ 5.83826802e-01 8.10507575e-01 -4.71565018e-02 4.38419322e+01] [ 8.44147517e-02 -2.83229676e-03 9.96426680e-01 1.25959855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.48, Y:43.88, Z:12.60 [[ 8.08056644e-01 -5.84924139e-01 -7.00586286e-02 1.41479578e+02] [ 5.83024880e-01 8.11083429e-01 -4.71769029e-02 4.38842295e+01] [ 8.44183021e-02 -2.72431374e-03 9.96426680e-01 1.25968844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.53, Y:43.92, Z:12.60 [[ 8.08436896e-01 -5.84400300e-01 -7.00433697e-02 1.41528553e+02] [ 5.82497120e-01 8.11461218e-01 -4.71995469e-02 4.39182647e+01] [ 8.44209075e-02 -2.64220594e-03 9.96426680e-01 1.25962109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:43.96, Z:12.61 [[ 8.07062424e-01 -5.86298700e-01 -7.00291228e-02 1.41570637e+02] [ 5.84400802e-01 8.10090063e-01 -4.72206754e-02 4.39575298e+01] [ 8.44153171e-02 -2.81504282e-03 9.96426681e-01 1.26093926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:44.01, Z:12.61 [[ 8.06956708e-01 -5.86445077e-01 -7.00217393e-02 1.41608493e+02] [ 5.84546780e-01 8.09984096e-01 -4.72316216e-02 4.40073384e+01] [ 8.44152472e-02 -2.81710832e-03 9.96426681e-01 1.26142088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.65, Y:44.06, Z:12.62 [[ 8.13603063e-01 -5.77190602e-01 -7.00076064e-02 1.41646437e+02] [ 5.75256053e-01 8.16607414e-01 -4.72525605e-02 4.40550539e+01] [ 8.44424642e-02 -1.82747140e-03 9.96426681e-01 1.26249017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:44.10, Z:12.64 [[ 8.22699660e-01 -5.64150995e-01 -6.99923189e-02 1.41681570e+02] [ 5.62166885e-01 8.25671514e-01 -4.72751941e-02 4.41048951e+01] [ 8.44610117e-02 -4.54077784e-04 9.96426681e-01 1.26362476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.71, Y:44.16, Z:12.64 [[ 8.27173171e-01 -5.57571937e-01 -6.99862849e-02 1.41712883e+02] [ 5.55563434e-01 8.30128594e-01 -4.72841251e-02 4.41624042e+01] [ 8.44619175e-02 2.30338881e-04 9.96426681e-01 1.26381448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:44.21, Z:12.65 [[ 8.28147269e-01 -5.56126402e-01 -6.99680317e-02 1.41750735e+02] [ 5.54110460e-01 8.31097621e-01 -4.73111198e-02 4.42110328e+01] [ 8.44612275e-02 4.10556461e-04 9.96426682e-01 1.26490592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:44.26, Z:12.64 [[ 8.30921686e-01 -5.51974435e-01 -6.99526622e-02 1.41788496e+02] [ 5.49941839e-01 8.33860589e-01 -4.73338337e-02 4.42622478e+01] [ 8.44578342e-02 8.60813153e-04 9.96426682e-01 1.26437558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:44.31, Z:12.64 [[ 8.32474160e-01 -5.49632034e-01 -6.99385520e-02 1.41828030e+02] [ 5.47589418e-01 8.35406107e-01 -4.73546732e-02 4.43073383e+01] [ 8.44547388e-02 1.12393084e-03 9.96426683e-01 1.26415006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:44.36, Z:12.65 [[ 8.25563973e-01 -5.59958454e-01 -6.99332260e-02 1.41863467e+02] [ 5.57951850e-01 8.28520684e-01 -4.73625373e-02 4.43570537e+01] [ 8.44621774e-02 8.14317236e-05 9.96426683e-01 1.26503121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:141.90, Y:44.40, Z:12.65 [[ 8.20463316e-01 -5.67407946e-01 -6.99154502e-02 1.41903533e+02] [ 5.65425951e-01 8.23436578e-01 -4.73887632e-02 4.44029205e+01] [ 8.44596998e-02 -6.51268144e-04 9.96426683e-01 1.26481834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117105681 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:44.44, Z:12.65 [[ 8.14403929e-01 -5.76073151e-01 -6.98996699e-02 1.41944171e+02] [ 5.74120789e-01 8.17396733e-01 -4.74120282e-02 4.44436573e+01] [ 8.44485583e-02 -1.51831161e-03 9.96426684e-01 1.26518676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:141.98, Y:44.49, Z:12.66 [[ 8.13740066e-01 -5.77011456e-01 -6.98919515e-02 1.41980550e+02] [ 5.75061568e-01 8.16734482e-01 -4.74234035e-02 4.44943248e+01] [ 8.44470138e-02 -1.60185178e-03 9.96426684e-01 1.26590648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:142.02, Y:44.55, Z:12.66 [[ 8.10902558e-01 -5.80994310e-01 -6.98759910e-02 1.42016742e+02] [ 5.79057103e-01 8.13905193e-01 -4.74469087e-02 4.45457336e+01] [ 8.44388159e-02 -1.98736929e-03 9.96426684e-01 1.26640793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:44.59, Z:12.68 [[ 8.08054222e-01 -5.84951198e-01 -6.98603612e-02 1.42055703e+02] [ 5.83026705e-01 8.11065021e-01 -4.74699108e-02 4.45918376e+01] [ 8.44288766e-02 -2.37219435e-03 9.96426684e-01 1.26751951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:142.09, Y:44.64, Z:12.68 [[ 8.03755652e-01 -5.90845626e-01 -6.98448166e-02 1.42093784e+02] [ 5.88941222e-01 8.06779197e-01 -4.74927715e-02 4.46390732e+01] [ 8.44102414e-02 -2.96190815e-03 9.96426685e-01 1.26834159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:142.13, Y:44.69, Z:12.69 [[ 8.00160099e-01 -5.95707731e-01 -6.98291809e-02 1.42133347e+02] [ 5.93819693e-01 8.03193890e-01 -4.75157497e-02 4.46856442e+01] [ 8.43918710e-02 -3.44573581e-03 9.96426685e-01 1.26886598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:44.74, Z:12.68 [[ 7.91173458e-01 -6.07594233e-01 -6.98126551e-02 1.42168446e+02] [ 6.05749593e-01 7.94233830e-01 -4.75400180e-02 4.47379034e+01] [ 8.43326133e-02 -4.67658698e-03 9.96426686e-01 1.26836018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:44.79, Z:12.69 [[ 7.94318667e-01 -6.03477301e-01 -6.98069005e-02 1.42205700e+02] [ 6.01616052e-01 7.97368967e-01 -4.75484665e-02 4.47864377e+01] [ 8.43562763e-02 -4.22831739e-03 9.96426686e-01 1.26920663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:44.84, Z:12.70 [[ 7.99332653e-01 -5.96821962e-01 -6.97915084e-02 1.42239684e+02] [ 5.94933335e-01 8.02366077e-01 -4.75710483e-02 4.48375901e+01] [ 8.43897852e-02 -3.49620257e-03 9.96426686e-01 1.26950370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:44.89, Z:12.70 [[ 8.11087196e-01 -5.80747578e-01 -6.97840338e-02 1.42275635e+02] [ 5.78797834e-01 8.14081703e-01 -4.75820106e-02 4.48889528e+01] [ 8.44430425e-02 -1.79768809e-03 9.96426686e-01 1.26980456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:44.95, Z:12.70 [[ 8.24663094e-01 -5.61304745e-01 -6.97693666e-02 1.42305858e+02] [ 5.59282557e-01 8.27609164e-01 -4.76035075e-02 4.49472160e+01] [ 8.44618417e-02 2.36066039e-04 9.96426687e-01 1.26999314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.34, Y:44.99, Z:12.70 [[ 8.31899200e-01 -5.50525632e-01 -6.97513394e-02 1.42344308e+02] [ 5.48463064e-01 8.34817141e-01 -4.76299073e-02 4.49944607e+01] [ 8.44510986e-02 1.36724849e-03 9.96426687e-01 1.27008913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.39, Y:45.04, Z:12.70 [[ 8.38971238e-01 -5.39689375e-01 -6.97326437e-02 1.42385712e+02] [ 5.37586863e-01 8.41860529e-01 -4.76572631e-02 4.50371157e+01] [ 8.44252788e-02 2.49571987e-03 9.96426688e-01 1.27011717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:45.08, Z:12.70 [[ 8.43272862e-01 -5.32943742e-01 -6.97269484e-02 1.42428621e+02] [ 5.30817439e-01 8.46144691e-01 -4.76655945e-02 4.50769892e+01] [ 8.44021674e-02 3.18282214e-03 9.96426688e-01 1.27029146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:45.11, Z:12.71 [[ 8.45112612e-01 -5.30023891e-01 -6.97090210e-02 1.42476091e+02] [ 5.27885512e-01 8.47975459e-01 -4.76917982e-02 4.51121748e+01] [ 8.43893315e-02 3.50655796e-03 9.96426688e-01 1.27060128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:45.14, Z:12.71 [[ 8.41178555e-01 -5.36247806e-01 -6.96916683e-02 1.42525107e+02] [ 5.34128521e-01 8.44055565e-01 -4.77171421e-02 4.51423251e+01] [ 8.44118533e-02 2.91432895e-03 9.96426689e-01 1.27110599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.58, Y:45.17, Z:12.71 [[ 8.33589360e-01 -5.47971437e-01 -6.96856015e-02 1.42576702e+02] [ 5.45891897e-01 8.36495228e-01 -4.77260004e-02 4.51722499e+01] [ 8.44441581e-02 1.74308092e-03 9.96426689e-01 1.27106320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.63, Y:45.20, Z:12.71 [[ 8.26251354e-01 -5.58976588e-01 -6.96697473e-02 1.42626310e+02] [ 5.56933812e-01 8.29183182e-01 -4.77491331e-02 4.52027858e+01] [ 8.44596302e-02 6.51347988e-04 9.96426689e-01 1.27130991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:45.23, Z:12.73 [[ 8.17822203e-01 -5.71238783e-01 -6.96641697e-02 1.42675078e+02] [ 5.69239272e-01 8.20783707e-01 -4.77572691e-02 4.52338788e+01] [ 8.44600198e-02 -5.98626280e-04 9.96426689e-01 1.27253234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:45.27, Z:12.73 [[ 8.10966256e-01 -5.80932742e-01 -6.96482668e-02 1.42722814e+02] [ 5.78966633e-01 8.13950039e-01 -4.77804504e-02 4.52675625e+01] [ 8.44474376e-02 -1.57568963e-03 9.96426689e-01 1.27293081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:45.31, Z:12.73 [[ 8.10122178e-01 -5.82111158e-01 -6.96323032e-02 1.42767218e+02] [ 5.80147391e-01 8.13107503e-01 -4.78037036e-02 4.53070331e+01] [ 8.44456174e-02 -1.67015859e-03 9.96426690e-01 1.27296807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:142.81, Y:45.35, Z:12.74 [[ 8.09187891e-01 -5.83411224e-01 -6.96153786e-02 1.42810128e+02] [ 5.81450135e-01 8.12174975e-01 -4.78283378e-02 4.53460915e+01] [ 8.44434575e-02 -1.77575955e-03 9.96426690e-01 1.27399493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:142.85, Y:45.39, Z:12.74 [[ 8.07666974e-01 -5.85515657e-01 -6.96094470e-02 1.42851178e+02] [ 5.83561607e-01 8.10658667e-01 -4.78369691e-02 4.53883183e+01] [ 8.44387959e-02 -1.98506065e-03 9.96426690e-01 1.27410601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:142.88, Y:45.44, Z:12.76 [[ 8.11278309e-01 -5.80503687e-01 -6.95914873e-02 1.42884842e+02] [ 5.78528912e-01 8.14256362e-01 -4.78630820e-02 4.54395479e+01] [ 8.44500069e-02 -1.43040723e-03 9.96426691e-01 1.27629531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557105681 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:45.49, Z:12.76 [[ 8.15924616e-01 -5.73956830e-01 -6.95742656e-02 1.42919960e+02] [ 5.71956022e-01 8.18885241e-01 -4.78881027e-02 4.54900539e+01] [ 8.44590429e-02 -7.20338337e-04 9.96426691e-01 1.27648901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617105681 meters Centerline goodness : 0.997873 with order 1 Centerline is valid? [True, True] Translation: X:142.96, Y:45.54, Z:12.77 [[ 8.28796402e-01 -5.55208790e-01 -6.95681221e-02 1.42955770e+02] [ 5.53140266e-01 8.31710118e-01 -4.78970258e-02 4.55422731e+01] [ 8.44533608e-02 1.21595304e-03 9.96426691e-01 1.27657777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677105681 meters Centerline goodness : 0.997199 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:45.59, Z:12.76 [[ 8.34413914e-01 -5.46732196e-01 -6.95508882e-02 1.42990856e+02] [ 5.44631998e-01 8.37304882e-01 -4.79220381e-02 4.55923889e+01] [ 8.44358193e-02 2.10717620e-03 9.96426692e-01 1.27589204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737105681 meters Centerline goodness : 0.996918 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:45.63, Z:12.75 [[ 8.35817957e-01 -5.44586045e-01 -6.95297286e-02 1.43035028e+02] [ 5.42475874e-01 8.38701653e-01 -4.79527188e-02 4.56321436e+01] [ 8.44290798e-02 2.36154310e-03 9.96426693e-01 1.27548752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797105681 meters Centerline goodness : 0.996876 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:45.67, Z:12.77 [[ 8.33126658e-01 -5.48696602e-01 -6.95126637e-02 1.43080192e+02] [ 5.46598600e-01 8.36019220e-01 -4.79774436e-02 4.56694787e+01] [ 8.44389831e-02 1.97576268e-03 9.96426693e-01 1.27669082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857105681 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:45.70, Z:12.77 [[ 8.26802637e-01 -5.58182600e-01 -6.94952186e-02 1.43127700e+02] [ 5.56115671e-01 8.29717483e-01 -4.80026996e-02 4.57031199e+01] [ 8.44556694e-02 1.04137845e-03 9.96426693e-01 1.27697676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917105681 meters Centerline goodness : 0.997399 with order 1 Centerline is valid? [True, True] Translation: X:143.18, Y:45.74, Z:12.78 [[ 8.21523818e-01 -5.65923868e-01 -6.94895131e-02 1.43176445e+02] [ 5.63883710e-01 8.24457464e-01 -4.80109575e-02 4.57354154e+01] [ 8.44616945e-02 2.58140651e-04 9.96426694e-01 1.27773154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977105681 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:45.77, Z:12.79 [[ 8.17895607e-01 -5.71156892e-01 -6.94735977e-02 1.43220210e+02] [ 5.69133549e-01 8.20840874e-01 -4.80339767e-02 4.57746948e+01] [ 8.44617055e-02 -2.52976706e-04 9.96426694e-01 1.27881046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:143.27, Y:45.81, Z:12.79 [[ 8.14851964e-01 -5.75492798e-01 -6.94573028e-02 1.43265101e+02] [ 5.73483118e-01 8.17806571e-01 -4.80575277e-02 4.58104142e+01] [ 8.44593997e-02 -6.72819805e-04 9.96426694e-01 1.27921339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:45.85, Z:12.80 [[ 8.15270153e-01 -5.74901711e-01 -6.94449413e-02 1.43308846e+02] [ 5.72888369e-01 8.18222265e-01 -4.80753839e-02 4.58490398e+01] [ 8.44600176e-02 -5.89773560e-04 9.96426695e-01 1.27971287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:45.89, Z:12.81 [[ 8.22891863e-01 -5.63940551e-01 -6.94264845e-02 1.43349528e+02] [ 5.61885636e-01 8.25815189e-01 -4.81020229e-02 4.58905813e+01] [ 8.44601268e-02 5.73018821e-04 9.96426695e-01 1.28069680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters Centerline goodness : 0.996809 with order 1 Centerline is valid? [True, True] Translation: X:143.39, Y:45.93, Z:12.81 [[ 8.30937447e-01 -5.52019417e-01 -6.94083667e-02 1.43392458e+02] [ 5.49920393e-01 8.33829264e-01 -4.81281518e-02 4.59301086e+01] [ 8.44424016e-02 1.82240732e-03 9.96426696e-01 1.28145317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277105681 meters Centerline goodness : 0.996880 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:45.96, Z:12.80 [[ 8.38496602e-01 -5.40470698e-01 -6.93892879e-02 1.43439963e+02] [ 5.38329597e-01 8.41357403e-01 -4.81556432e-02 4.59641380e+01] [ 8.44079052e-02 3.02403585e-03 9.96426696e-01 1.28048641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337105681 meters Centerline goodness : 0.996842 with order 1 Centerline is valid? [True, True] Translation: X:143.49, Y:46.00, Z:12.81 [[ 8.39794944e-01 -5.38453503e-01 -6.93705736e-02 1.43485541e+02] [ 5.36303310e-01 8.42648918e-01 -4.81825872e-02 4.59996701e+01] [ 8.43991216e-02 3.25982489e-03 9.96426697e-01 1.28115642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397105681 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:143.53, Y:46.03, Z:12.80 [[ 8.36927063e-01 -5.42902888e-01 -6.93508891e-02 1.43534960e+02] [ 5.40765528e-01 8.39790660e-01 -4.82109031e-02 4.60324362e+01] [ 8.44140675e-02 2.84643932e-03 9.96426697e-01 1.28027998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457105681 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:46.06, Z:12.81 [[ 8.30317597e-01 -5.52959615e-01 -6.93422897e-02 1.43586614e+02] [ 5.50855924e-01 8.33206018e-01 -4.82232686e-02 4.60594731e+01] [ 8.44419331e-02 1.84301745e-03 9.96426697e-01 1.28114422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517105681 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:46.09, Z:12.82 [[ 8.23610156e-01 -5.62903611e-01 -6.93241331e-02 1.43632369e+02] [ 5.60832607e-01 8.26522103e-01 -4.82493558e-02 4.60940251e+01] [ 8.44576649e-02 8.59425159e-04 9.96426698e-01 1.28238337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577105681 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:46.13, Z:12.83 [[ 8.18607467e-01 -5.70155044e-01 -6.93183984e-02 1.43681550e+02] [ 5.68109139e-01 8.21537102e-01 -4.82575934e-02 4.61256690e+01] [ 8.44619464e-02 1.23610698e-04 9.96426698e-01 1.28312431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637105681 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:46.16, Z:12.83 [[ 8.17472325e-01 -5.71783389e-01 -6.93019059e-02 1.43729523e+02] [ 5.69741313e-01 8.20404629e-01 -4.82812663e-02 4.61582721e+01] [ 8.44620305e-02 -1.55598244e-05 9.96426698e-01 1.28305137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697105681 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:46.20, Z:12.84 [[ 8.21492919e-01 -5.65992761e-01 -6.92934298e-02 1.43773553e+02] [ 5.63928989e-01 8.24409995e-01 -4.82934283e-02 4.61963135e+01] [ 8.44599269e-02 5.96135591e-04 9.96426698e-01 1.28429185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters Centerline goodness : 0.998170 with order 1 Centerline is valid? [True, True] Translation: X:143.82, Y:46.23, Z:12.84 [[ 8.26165572e-01 -5.59151993e-01 -6.92783999e-02 1.43816854e+02] [ 5.57062264e-01 8.29064109e-01 -4.83149795e-02 4.62346809e+01] [ 8.44516520e-02 1.32379036e-03 9.96426699e-01 1.28442195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters Centerline goodness : 0.997643 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:46.28, Z:12.85 [[ 8.31315734e-01 -5.51466639e-01 -6.92726260e-02 1.43857804e+02] [ 5.49349432e-01 8.34194260e-01 -4.83232566e-02 4.62752639e+01] [ 8.44354909e-02 2.11700573e-03 9.96426699e-01 1.28467735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters Centerline goodness : 0.997535 with order 1 Centerline is valid? [True, True] Translation: X:143.90, Y:46.32, Z:12.85 [[ 8.33533621e-01 -5.48109538e-01 -6.92649760e-02 1.43902155e+02] [ 5.45979829e-01 8.36402911e-01 -4.83342194e-02 4.63153227e+01] [ 8.44258742e-02 2.47091712e-03 9.96426699e-01 1.28461322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters Centerline goodness : 0.997243 with order 1 Centerline is valid? [True, True] Translation: X:143.95, Y:46.35, Z:12.85 [[ 8.33277819e-01 -5.48500251e-01 -6.92499130e-02 1.43947766e+02] [ 5.46370098e-01 8.36146778e-01 -4.83557910e-02 4.63524082e+01] [ 8.44262551e-02 2.45772633e-03 9.96426699e-01 1.28547864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters Centerline goodness : 0.997560 with order 1 Centerline is valid? [True, True] Translation: X:143.99, Y:46.39, Z:12.86 [[ 8.35049684e-01 -5.45800975e-01 -6.92338206e-02 1.43992965e+02] [ 5.43659642e-01 8.37910308e-01 -4.83788205e-02 4.63879018e+01] [ 8.44169393e-02 2.75908468e-03 9.96426700e-01 1.28568643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057105681 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:144.04, Y:46.43, Z:12.86 [[ 8.37722173e-01 -5.41692239e-01 -6.92176229e-02 1.44037174e+02] [ 5.39534970e-01 8.40570797e-01 -4.84019843e-02 4.64265127e+01] [ 8.44012917e-02 3.20208734e-03 9.96426700e-01 1.28594460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117105681 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:144.08, Y:46.46, Z:12.87 [[ 8.37767737e-01 -5.41623869e-01 -6.92011729e-02 1.44082932e+02] [ 5.39464430e-01 8.40614716e-01 -4.84254918e-02 4.64629027e+01] [ 8.43999265e-02 3.23774343e-03 9.96426700e-01 1.28685824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177105681 meters Centerline goodness : 0.997521 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:46.50, Z:12.88 [[ 8.36994424e-01 -5.42820258e-01 -6.91845458e-02 1.44128731e+02] [ 5.40662929e-01 8.39843003e-01 -4.84492350e-02 4.64992051e+01] [ 8.44033829e-02 3.14622041e-03 9.96426701e-01 1.28775531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237105681 meters Centerline goodness : 0.997184 with order 1 Centerline is valid? [True, True] Translation: X:144.17, Y:46.53, Z:12.88 [[ 8.37901583e-01 -5.41421007e-01 -6.91681251e-02 1.44174700e+02] [ 5.39256992e-01 8.40745085e-01 -4.84726665e-02 4.65339040e+01] [ 8.43968812e-02 3.31592893e-03 9.96426701e-01 1.28796423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297105681 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:144.22, Y:46.57, Z:12.89 [[ 8.36867028e-01 -5.43021114e-01 -6.91494568e-02 1.44220881e+02] [ 5.40860340e-01 8.39712994e-01 -4.84992837e-02 4.65676590e+01] [ 8.44018324e-02 3.18725266e-03 9.96426702e-01 1.28863087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357105681 meters Centerline goodness : 0.997248 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:46.60, Z:12.89 [[ 8.33261378e-01 -5.48540234e-01 -6.91309450e-02 1.44267410e+02] [ 5.46396132e-01 8.36119924e-01 -4.85256561e-02 4.66007737e+01] [ 8.44200352e-02 2.66167409e-03 9.96426702e-01 1.28907158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417105681 meters Centerline goodness : 0.997675 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:46.64, Z:12.89 [[ 8.35409415e-01 -5.45264261e-01 -6.91230464e-02 1.44315182e+02] [ 5.43108023e-01 8.38258817e-01 -4.85369047e-02 4.66358378e+01] [ 8.44084426e-02 3.00690610e-03 9.96426702e-01 1.28879701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477105681 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:46.67, Z:12.90 [[ 8.37675907e-01 -5.41776890e-01 -6.91149503e-02 1.44361014e+02] [ 5.39607843e-01 8.40515571e-01 -4.85484306e-02 4.66718421e+01] [ 8.43946097e-02 3.37288134e-03 9.96426703e-01 1.28959292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters Centerline goodness : 0.996842 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:46.71, Z:12.90 [[ 8.42604663e-01 -5.34081228e-01 -6.90986463e-02 1.44405386e+02] [ 5.31884367e-01 8.45422863e-01 -4.85716249e-02 4.67094141e+01] [ 8.43587685e-02 4.17418792e-03 9.96426703e-01 1.29046417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters Centerline goodness : 0.996293 with order 1 Centerline is valid? [True, True] Translation: X:144.45, Y:46.74, Z:12.91 [[ 8.45965090e-01 -5.28744500e-01 -6.90819848e-02 1.44452547e+02] [ 5.26527943e-01 8.48767825e-01 -4.85953107e-02 4.67421727e+01] [ 8.43290692e-02 4.73634100e-03 9.96426703e-01 1.29074002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters Centerline goodness : 0.996356 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:46.78, Z:12.91 [[ 8.46521213e-01 -5.27856125e-01 -6.90633535e-02 1.44498623e+02] [ 5.25634478e-01 8.49319915e-01 -4.86217750e-02 4.67771563e+01] [ 8.43221833e-02 4.85728422e-03 9.96426704e-01 1.29127381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters Centerline goodness : 0.996928 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:46.81, Z:12.92 [[ 8.45108897e-01 -5.30116774e-01 -6.90446032e-02 1.44547262e+02] [ 5.27900451e-01 8.47911816e-01 -4.86483866e-02 4.68100494e+01] [ 8.43330607e-02 4.66450721e-03 9.96426704e-01 1.29203031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777105681 meters Centerline goodness : 0.996070 with order 1 Centerline is valid? [True, True] Translation: X:144.60, Y:46.84, Z:12.92 [[ 8.41988024e-01 -5.35061957e-01 -6.90280389e-02 1.44595216e+02] [ 5.32860184e-01 8.44802387e-01 -4.86718787e-02 4.68425912e+01] [ 8.43575226e-02 4.19884546e-03 9.96426705e-01 1.29232630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837105681 meters Centerline goodness : 0.996586 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:46.88, Z:12.93 [[ 8.42770512e-01 -5.33829366e-01 -6.90222579e-02 1.44641766e+02] [ 5.31622809e-01 8.45581125e-01 -4.86800754e-02 4.68783502e+01] [ 8.43507723e-02 4.33232545e-03 9.96426705e-01 1.29276040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897105681 meters Centerline goodness : 0.995684 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:46.92, Z:12.93 [[ 8.39160324e-01 -5.39488765e-01 -6.90059692e-02 1.44685270e+02] [ 5.37299280e-01 8.41984256e-01 -4.87031544e-02 4.69171989e+01] [ 8.43767442e-02 3.79289728e-03 9.96426705e-01 1.29274100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957105681 meters Centerline goodness : 0.996351 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:46.95, Z:12.93 [[ 8.29731486e-01 -5.53881414e-01 -6.90002834e-02 1.44732643e+02] [ 5.51740290e-01 8.32592259e-01 -4.87112085e-02 4.69506221e+01] [ 8.44293349e-02 2.34698703e-03 9.96426705e-01 1.29251484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017105681 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:46.99, Z:12.94 [[ 8.17704284e-01 -5.71488768e-01 -6.89948691e-02 1.44773204e+02] [ 5.69408629e-01 8.20609703e-01 -4.87188761e-02 4.69926405e+01] [ 8.44601495e-02 5.51359927e-04 9.96426705e-01 1.29394959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077105681 meters Centerline goodness : 0.996965 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:47.03, Z:12.94 [[ 8.06328042e-01 -5.87431616e-01 -6.89868493e-02 1.44816013e+02] [ 5.85407946e-01 8.09273070e-01 -4.87302296e-02 4.70346841e+01] [ 8.44548769e-02 -1.09289914e-03 9.96426705e-01 1.29397438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137105681 meters Centerline goodness : 0.996745 with order 1 Centerline is valid? [True, True] Translation: X:144.86, Y:47.08, Z:12.94 [[ 7.97618888e-01 -5.99205323e-01 -6.89716645e-02 1.44855207e+02] [ 5.97223248e-01 8.00592070e-01 -4.87517124e-02 4.70788579e+01] [ 8.44304533e-02 -2.30619487e-03 9.96426706e-01 1.29414117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197105681 meters Centerline goodness : 0.995267 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:47.14, Z:12.96 [[ 7.98413697e-01 -5.98146791e-01 -6.89636409e-02 1.44883913e+02] [ 5.96159795e-01 8.01383593e-01 -4.87630600e-02 4.71384380e+01] [ 8.44337981e-02 -2.18025498e-03 9.96426706e-01 1.29606137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:144.92, Y:47.19, Z:12.97 [[ 8.04753020e-01 -5.89590563e-01 -6.89604539e-02 1.44915215e+02] [ 5.87571594e-01 8.07701273e-01 -4.87675666e-02 4.71918977e+01] [ 8.44523434e-02 -1.27335728e-03 9.96426706e-01 1.29719908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters Centerline goodness : 0.995906 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:47.25, Z:12.98 [[ 8.05986436e-01 -5.87904055e-01 -6.89542422e-02 1.44945045e+02] [ 5.85878165e-01 8.08929937e-01 -4.87763479e-02 4.72491738e+01] [ 8.44549636e-02 -1.08571014e-03 9.96426706e-01 1.29818467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters Centerline goodness : 0.997476 with order 1 Centerline is valid? [True, True] Translation: X:144.98, Y:47.31, Z:12.98 [[ 8.01832171e-01 -5.93559352e-01 -6.89381283e-02 1.44976028e+02] [ 5.91552263e-01 8.04788523e-01 -4.87991120e-02 4.73079544e+01] [ 8.44457838e-02 -1.65180792e-03 9.96426706e-01 1.29789924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:145.02, Y:47.36, Z:12.99 [[ 8.07124517e-01 -5.86342980e-01 -6.89341955e-02 1.45016144e+02] [ 5.84308979e-01 8.10062418e-01 -4.88046668e-02 4.73584828e+01] [ 8.44572749e-02 -8.87426246e-04 9.96426706e-01 1.29867947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:47.42, Z:13.00 [[ 8.17541834e-01 -5.71727864e-01 -6.89390926e-02 1.45046542e+02] [ 5.69641922e-01 8.20443088e-01 -4.87977485e-02 4.74188421e+01] [ 8.44596345e-02 6.23603651e-04 9.96426706e-01 1.30009289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557105681 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:145.08, Y:47.47, Z:13.01 [[ 8.29394694e-01 -5.54392916e-01 -6.89415395e-02 1.45083759e+02] [ 5.52246655e-01 8.32251614e-01 -4.87942913e-02 4.74719027e+01] [ 8.44279169e-02 2.39699175e-03 9.96426706e-01 1.30143846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617105681 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:145.13, Y:47.52, Z:13.01 [[ 8.38906774e-01 -5.39889060e-01 -6.89581559e-02 1.45129032e+02] [ 5.37695378e-01 8.41727444e-01 -4.87707969e-02 4.75166308e+01] [ 8.43747921e-02 3.83567020e-03 9.96426707e-01 1.30062268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677105681 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:145.17, Y:47.56, Z:13.02 [[ 8.39893466e-01 -5.38351752e-01 -6.89663474e-02 1.45168272e+02] [ 5.36153855e-01 8.42710854e-01 -4.87592107e-02 4.75631068e+01] [ 8.43682960e-02 3.97596940e-03 9.96426707e-01 1.30166963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737105681 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:47.60, Z:13.03 [[ 8.43615200e-01 -5.32500896e-01 -6.89651421e-02 1.45214034e+02] [ 5.30283330e-01 8.46417133e-01 -4.87609155e-02 4.76031380e+01] [ 8.43385090e-02 4.56438421e-03 9.96426707e-01 1.30294861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797105681 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:47.64, Z:13.03 [[ 8.49270644e-01 -5.23432114e-01 -6.89796793e-02 1.45265314e+02] [ 5.21186318e-01 8.52049999e-01 -4.87403417e-02 4.76385866e+01] [ 8.42863958e-02 5.44247632e-03 9.96426707e-01 1.30312842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857105681 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:145.32, Y:47.67, Z:13.03 [[ 8.50967248e-01 -5.20667229e-01 -6.89955058e-02 1.45316936e+02] [ 5.18414209e-01 8.53740752e-01 -4.87179280e-02 4.76747015e+01] [ 8.42701035e-02 5.68911056e-03 9.96426708e-01 1.30341864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917105681 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:145.37, Y:47.70, Z:13.03 [[ 8.53434981e-01 -5.16611116e-01 -6.90049801e-02 1.45372683e+02] [ 5.14345999e-01 8.56198613e-01 -4.87045047e-02 4.77023329e+01] [ 8.42432568e-02 6.07369269e-03 9.96426708e-01 1.30290406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977105681 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:47.74, Z:13.05 [[ 8.54366073e-01 -5.15069463e-01 -6.90076936e-02 1.45422843e+02] [ 5.12799667e-01 8.57125864e-01 -4.87006597e-02 4.77365988e+01] [ 8.42325016e-02 6.22106907e-03 9.96426708e-01 1.30462258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:47.77, Z:13.05 [[ 8.52607329e-01 -5.17974935e-01 -6.90123892e-02 1.45475025e+02] [ 5.15715082e-01 8.55375267e-01 -4.86940049e-02 4.77708027e+01] [ 8.42537648e-02 5.92613547e-03 9.96426708e-01 1.30513144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:47.80, Z:13.05 [[ 8.47638432e-01 -5.26066293e-01 -6.90169829e-02 1.45528574e+02] [ 5.23833414e-01 8.50428176e-01 -4.86874930e-02 4.78028691e+01] [ 8.43068358e-02 5.11598838e-03 9.96426708e-01 1.30498049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:47.84, Z:13.06 [[ 8.45150267e-01 -5.30053826e-01 -6.90215055e-02 1.45578657e+02] [ 5.27834636e-01 8.47950912e-01 -4.86810808e-02 4.78383169e+01] [ 8.43304416e-02 4.71088713e-03 9.96426708e-01 1.30582191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:145.63, Y:47.87, Z:13.06 [[ 8.36467232e-01 -5.43651120e-01 -6.90364318e-02 1.45631297e+02] [ 5.41479252e-01 8.39304732e-01 -4.86599040e-02 4.78709237e+01] [ 8.43966152e-02 3.32061976e-03 9.96426708e-01 1.30645244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277105681 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:145.68, Y:47.91, Z:13.07 [[ 8.38273052e-01 -5.40861110e-01 -6.90474533e-02 1.45679072e+02] [ 5.38681085e-01 8.41104289e-01 -4.86442598e-02 4.79092769e+01] [ 8.43858974e-02 3.58261503e-03 9.96426708e-01 1.30734119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337105681 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:47.95, Z:13.08 [[ 8.45876855e-01 -5.28888463e-01 -6.90604028e-02 1.45726122e+02] [ 5.26669900e-01 8.48677996e-01 -4.86258684e-02 4.79504345e+01] [ 8.43277051e-02 4.75946120e-03 9.96426709e-01 1.30800304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:145.77, Y:47.99, Z:13.09 [[ 8.51660328e-01 -5.19523587e-01 -6.90646685e-02 1.45771652e+02] [ 5.17274742e-01 8.54437216e-01 -4.86198090e-02 4.79930895e+01] [ 8.42705606e-02 5.68215391e-03 9.96426709e-01 1.30868769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:48.03, Z:13.09 [[ 8.54340416e-01 -5.15102268e-01 -6.90804371e-02 1.45818977e+02] [ 5.12840858e-01 8.57107080e-01 -4.85973942e-02 4.80321958e+01] [ 8.42419597e-02 6.09144728e-03 9.96426709e-01 1.30946001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517105681 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:48.07, Z:13.10 [[ 8.58072701e-01 -5.08858679e-01 -6.90947583e-02 1.45867612e+02] [ 5.06578779e-01 8.60824148e-01 -4.85770241e-02 4.80716063e+01] [ 8.41972767e-02 6.68068002e-03 9.96426709e-01 1.31033629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:48.11, Z:13.10 [[ 8.63539901e-01 -4.99522006e-01 -6.91129861e-02 1.45918620e+02] [ 4.97214450e-01 8.66268194e-01 -4.85510767e-02 4.81060561e+01] [ 8.41227129e-02 7.56181655e-03 9.96426710e-01 1.30984202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637105681 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:48.14, Z:13.10 [[ 8.68375813e-01 -4.91065021e-01 -6.91273642e-02 1.45969840e+02] [ 4.88732536e-01 8.71082826e-01 -4.85305964e-02 4.81414001e+01] [ 8.40473381e-02 8.35800404e-03 9.96426710e-01 1.30951387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697105681 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:146.02, Y:48.18, Z:13.09 [[ 8.68600572e-01 -4.90665367e-01 -6.91414839e-02 1.46022295e+02] [ 4.88333215e-01 8.71307871e-01 -4.85104719e-02 4.81757333e+01] [ 8.40459276e-02 8.37214055e-03 9.96426710e-01 1.30919001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:48.21, Z:13.09 [[ 8.62706955e-01 -5.00954643e-01 -6.91459087e-02 1.46078107e+02] [ 4.98655334e-01 8.65442202e-01 -4.85041640e-02 4.82050600e+01] [ 8.41401736e-02 7.36490342e-03 9.96426711e-01 1.30946899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:146.13, Y:48.24, Z:13.11 [[ 8.57360657e-01 -5.10049932e-01 -6.91503460e-02 1.46128196e+02] [ 5.07780183e-01 8.60120483e-01 -4.84978371e-02 4.82397970e+01] [ 8.42139475e-02 6.46696207e-03 9.96426711e-01 1.31079762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:146.18, Y:48.27, Z:13.11 [[ 8.53306682e-01 -5.16802977e-01 -6.91548224e-02 1.46178433e+02] [ 5.14555602e-01 8.56084757e-01 -4.84914532e-02 4.82742771e+01] [ 8.42629167e-02 5.79407982e-03 9.96426711e-01 1.31129458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:146.23, Y:48.31, Z:13.12 [[ 8.51259232e-01 -5.20168126e-01 -6.91580780e-02 1.46227999e+02] [ 5.17932112e-01 8.54046460e-01 -4.84868097e-02 4.83114555e+01] [ 8.42855046e-02 5.45565503e-03 9.96426711e-01 1.31232588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:48.35, Z:13.13 [[ 8.52154931e-01 -5.18698891e-01 -6.91623789e-02 1.46275450e+02] [ 5.16458567e-01 8.54938695e-01 -4.84806740e-02 4.83519589e+01] [ 8.42764658e-02 5.59354231e-03 9.96426711e-01 1.31348772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057105681 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:48.39, Z:13.12 [[ 8.63226830e-01 -5.00053552e-01 -6.91800905e-02 1.46326561e+02] [ 4.97755252e-01 8.65962924e-01 -4.84553871e-02 4.83918463e+01] [ 8.41376819e-02 7.39323690e-03 9.96426711e-01 1.31242853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117105681 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:48.43, Z:13.13 [[ 8.70665320e-01 -4.86984123e-01 -6.91980024e-02 1.46371653e+02] [ 4.84646841e-01 8.73368189e-01 -4.84297941e-02 4.84338266e+01] [ 8.40198749e-02 8.62954891e-03 9.96426712e-01 1.31284264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177105681 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:146.42, Y:48.47, Z:13.13 [[ 8.72053018e-01 -4.84492751e-01 -6.92120522e-02 1.46417417e+02] [ 4.82149318e-01 8.74750556e-01 -4.84097070e-02 4.84749330e+01] [ 8.39974332e-02 8.84528728e-03 9.96426712e-01 1.31325175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237105681 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:146.47, Y:48.51, Z:13.14 [[ 8.66942124e-01 -4.93577912e-01 -6.92257020e-02 1.46465970e+02] [ 4.91264331e-01 8.69665308e-01 -4.83901800e-02 4.85142240e+01] [ 8.40875154e-02 7.94336734e-03 9.96426712e-01 1.31402109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297105681 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:48.55, Z:13.15 [[ 8.61906002e-01 -5.02319789e-01 -6.92305789e-02 1.46514333e+02] [ 5.00034419e-01 8.64652904e-01 -4.83832017e-02 4.85535271e+01] [ 8.41642608e-02 7.08409968e-03 9.96426712e-01 1.31536081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357105681 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:146.56, Y:48.59, Z:13.15 [[ 8.54722985e-01 -5.14444862e-01 -6.92466800e-02 1.46564263e+02] [ 5.12200378e-01 8.57503393e-01 -4.83601466e-02 4.85899613e+01] [ 8.42578921e-02 5.86635321e-03 9.96426713e-01 1.31496025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417105681 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:48.63, Z:13.16 [[ 8.51153747e-01 -5.20327877e-01 -6.92545954e-02 1.46610558e+02] [ 5.18103540e-01 8.53950300e-01 -4.83488087e-02 4.86320909e+01] [ 8.42972155e-02 5.27121865e-03 9.96426713e-01 1.31601848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477105681 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:146.66, Y:48.67, Z:13.17 [[ 8.48904783e-01 -5.23986911e-01 -6.92703851e-02 1.46658367e+02] [ 5.21776470e-01 8.51712332e-01 -4.83261759e-02 4.86738901e+01] [ 8.43207249e-02 4.88066484e-03 9.96426713e-01 1.31665784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:48.72, Z:13.17 [[ 8.47722048e-01 -5.25896056e-01 -6.92868488e-02 1.46703021e+02] [ 5.23693860e-01 8.50536068e-01 -4.83025599e-02 4.87166243e+01] [ 8.43330897e-02 4.66204778e-03 9.96426713e-01 1.31692344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:146.75, Y:48.77, Z:13.17 [[ 8.43784790e-01 -5.32188634e-01 -6.92999668e-02 1.46745868e+02] [ 5.30008977e-01 8.46616304e-01 -4.82837322e-02 4.87654910e+01] [ 8.43665352e-02 4.01147433e-03 9.96426714e-01 1.31731990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:146.79, Y:48.81, Z:13.18 [[ 8.35667940e-01 -5.44843487e-01 -6.93157217e-02 1.46789199e+02] [ 5.42708620e-01 8.38533374e-01 -4.82611039e-02 4.88124893e+01] [ 8.44182942e-02 2.71201755e-03 9.96426714e-01 1.31789950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:48.86, Z:13.18 [[ 8.28296195e-01 -5.55984510e-01 -6.93299178e-02 1.46833057e+02] [ 5.53889910e-01 8.31191195e-01 -4.82407019e-02 4.88592079e+01] [ 8.44475002e-02 1.55644790e-03 9.96426714e-01 1.31765416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777105681 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:48.91, Z:13.18 [[ 8.21159537e-01 -5.66471345e-01 -6.93341975e-02 1.46874142e+02] [ 5.64414243e-01 8.24081301e-01 -4.82345501e-02 4.89095348e+01] [ 8.44605061e-02 4.75052189e-04 9.96426714e-01 1.31824090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837105681 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:48.95, Z:13.19 [[ 8.21489868e-01 -5.65991567e-01 -6.93393320e-02 1.46919579e+02] [ 5.63933382e-01 8.24410869e-01 -4.82271678e-02 4.89527093e+01] [ 8.44602692e-02 5.15365634e-04 9.96426714e-01 1.31947402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897105681 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:48.99, Z:13.21 [[ 8.22206432e-01 -5.64948352e-01 -6.93537487e-02 1.46966965e+02] [ 5.62888210e-01 8.25126053e-01 -4.82064269e-02 4.89911568e+01] [ 8.44597263e-02 5.97226798e-04 9.96426715e-01 1.32063117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957105681 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:49.02, Z:13.20 [[ 8.26461863e-01 -5.58702977e-01 -6.93669422e-02 1.47020478e+02] [ 5.56622369e-01 8.29366933e-01 -4.81874345e-02 4.90239148e+01] [ 8.44531112e-02 1.21388520e-03 9.96426715e-01 1.31987645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017105681 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:49.06, Z:13.21 [[ 8.29911994e-01 -5.53563206e-01 -6.93819749e-02 1.47069874e+02] [ 5.51466418e-01 8.32805408e-01 -4.81657802e-02 4.90612755e+01] [ 8.44444876e-02 1.71152957e-03 9.96426715e-01 1.32067001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077105681 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:49.10, Z:13.21 [[ 8.31125082e-01 -5.51738345e-01 -6.93966596e-02 1.47120937e+02] [ 5.49636970e-01 8.34015166e-01 -4.81446134e-02 4.90961576e+01] [ 8.44410959e-02 1.87122605e-03 9.96426716e-01 1.32128395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137105681 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:49.13, Z:13.22 [[ 8.31317133e-01 -5.51447118e-01 -6.94110985e-02 1.47174237e+02] [ 5.49346468e-01 8.34207743e-01 -4.81237876e-02 4.91285300e+01] [ 8.44409998e-02 1.87538732e-03 9.96426716e-01 1.32168568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197105681 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:147.22, Y:49.16, Z:13.23 [[ 8.28835356e-01 -5.55168515e-01 -6.94253033e-02 1.47224637e+02] [ 5.53082562e-01 8.31736589e-01 -4.81032865e-02 4.91617183e+01] [ 8.44489951e-02 1.47177997e-03 9.96426716e-01 1.32330318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:147.28, Y:49.20, Z:13.23 [[ 8.29348568e-01 -5.54401050e-01 -6.94293067e-02 1.47276882e+02] [ 5.52312896e-01 8.32248217e-01 -4.80975076e-02 4.91952415e+01] [ 8.44477254e-02 1.54289764e-03 9.96426716e-01 1.32341528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:49.23, Z:13.23 [[ 8.32428879e-01 -5.49763413e-01 -6.94431483e-02 1.47327923e+02] [ 5.47660773e-01 8.35318042e-01 -4.80775149e-02 4.92317397e+01] [ 8.44383733e-02 1.98982357e-03 9.96426717e-01 1.32272362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:49.26, Z:13.24 [[ 8.34018034e-01 -5.47347636e-01 -6.94585017e-02 1.47380564e+02] [ 5.45238475e-01 8.36902439e-01 -4.80553232e-02 4.92633415e+01] [ 8.44329571e-02 2.20755870e-03 9.96426717e-01 1.32396325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:147.43, Y:49.30, Z:13.25 [[ 8.40423384e-01 -5.37458691e-01 -6.94743946e-02 1.47430594e+02] [ 5.35317504e-01 8.43284095e-01 -4.80323357e-02 4.92990114e+01] [ 8.44020482e-02 3.17663856e-03 9.96426717e-01 1.32501935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:147.48, Y:49.33, Z:13.26 [[ 8.46784376e-01 -5.27378007e-01 -6.94885534e-02 1.47482417e+02] [ 5.25204465e-01 8.49620581e-01 -4.80118434e-02 4.93337615e+01] [ 8.43592954e-02 4.15998023e-03 9.96426718e-01 1.32599571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:49.37, Z:13.27 [[ 8.51596506e-01 -5.19569512e-01 -6.95047737e-02 1.47535725e+02] [ 5.17371891e-01 8.54414094e-01 -4.79883506e-02 4.93653296e+01] [ 8.43191421e-02 4.90689549e-03 9.96426718e-01 1.32679624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617105681 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:49.40, Z:13.27 [[ 8.53656378e-01 -5.16176136e-01 -6.95196693e-02 1.47590171e+02] [ 5.13969067e-01 8.56466571e-01 -4.79667619e-02 4.93982300e+01] [ 8.43005707e-02 5.21617266e-03 9.96426719e-01 1.32685275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677105681 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:49.43, Z:13.27 [[ 8.50450535e-01 -5.21439013e-01 -6.95359147e-02 1.47645125e+02] [ 5.19251261e-01 8.53275792e-01 -4.79431999e-02 4.94295089e+01] [ 8.43327676e-02 4.66670861e-03 9.96426719e-01 1.32675314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:49.46, Z:13.27 [[ 8.46845466e-01 -5.27271815e-01 -6.95499127e-02 1.47698901e+02] [ 5.25105195e-01 8.49686961e-01 -4.79228849e-02 4.94627850e+01] [ 8.43640404e-02 4.06225737e-03 9.96426719e-01 1.32731992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797105681 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:49.50, Z:13.28 [[ 8.43346015e-01 -5.32849046e-01 -6.95657465e-02 1.47752849e+02] [ 5.30703118e-01 8.46203168e-01 -4.78998893e-02 4.94950023e+01] [ 8.43901654e-02 3.47742217e-03 9.96426720e-01 1.32762409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857105681 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:49.53, Z:13.28 [[ 8.38327435e-01 -5.40708573e-01 -6.95798174e-02 1.47804217e+02] [ 5.38591139e-01 8.41205768e-01 -4.78794410e-02 4.95309908e+01] [ 8.44197680e-02 2.66357582e-03 9.96426720e-01 1.32826321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917105681 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:147.86, Y:49.56, Z:13.28 [[ 8.35872650e-01 -5.44493444e-01 -6.95974373e-02 1.47857983e+02] [ 5.42391176e-01 8.38762079e-01 -4.78538152e-02 4.95629930e+01] [ 8.44317798e-02 2.25065942e-03 9.96426720e-01 1.32821965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977105681 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:49.60, Z:13.30 [[ 8.29812532e-01 -5.53683277e-01 -6.96131467e-02 1.47908107e+02] [ 5.51614936e-01 8.32726343e-01 -4.78309518e-02 4.95962753e+01] [ 8.44518992e-02 1.29107178e-03 9.96426721e-01 1.33004328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:49.63, Z:13.30 [[ 8.24354561e-01 -5.61775497e-01 -6.96264941e-02 1.47958289e+02] [ 5.59737405e-01 8.27289609e-01 -4.78115144e-02 4.96348989e+01] [ 8.44606123e-02 4.41086816e-04 9.96426721e-01 1.32978559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:148.01, Y:49.67, Z:13.31 [[ 8.19269496e-01 -5.69163954e-01 -6.96411313e-02 1.48007676e+02] [ 5.67154144e-01 8.22223981e-01 -4.77901847e-02 4.96705013e+01] [ 8.44610587e-02 -3.44215698e-04 9.96426721e-01 1.33109775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:148.06, Y:49.71, Z:13.31 [[ 8.19053759e-01 -5.69472641e-01 -6.96552301e-02 1.48056568e+02] [ 5.67465693e-01 8.22010188e-01 -4.77696266e-02 4.97093958e+01] [ 8.44608043e-02 -4.01061226e-04 9.96426722e-01 1.33097406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:49.76, Z:13.30 [[ 8.21562896e-01 -5.65845025e-01 -6.96693266e-02 1.48100650e+02] [ 5.63826766e-01 8.24511616e-01 -4.77490589e-02 4.97566615e+01] [ 8.44617365e-02 -5.25759843e-05 9.96426722e-01 1.33047218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277105681 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:49.79, Z:13.32 [[ 8.25706488e-01 -5.59779389e-01 -6.96837962e-02 1.48149129e+02] [ 5.57741252e-01 8.28641503e-01 -4.77279330e-02 4.97934222e+01] [ 8.44599988e-02 5.43736241e-04 9.96426722e-01 1.33214995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337105681 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:49.83, Z:13.33 [[ 8.30949173e-01 -5.51965269e-01 -6.96980172e-02 1.48201894e+02] [ 5.49901278e-01 8.33866064e-01 -4.77071568e-02 4.98252604e+01] [ 8.44515049e-02 1.31519373e-03 9.96426723e-01 1.33335469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397105681 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:49.86, Z:13.34 [[ 8.39577183e-01 -5.38748804e-01 -6.97128363e-02 1.48254544e+02] [ 5.36640716e-01 8.42462365e-01 -4.76854923e-02 4.98586714e+01] [ 8.44209429e-02 2.62490495e-03 9.96426723e-01 1.33437140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457105681 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:49.89, Z:13.35 [[ 8.49702323e-01 -5.22631456e-01 -6.97303653e-02 1.48308485e+02] [ 5.20470799e-01 8.52548349e-01 -4.76598460e-02 4.98898444e+01] [ 8.43570425e-02 4.20406293e-03 9.96426723e-01 1.33533887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517105681 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:49.92, Z:13.33 [[ 8.54185822e-01 -5.15269002e-01 -6.97455239e-02 1.48365482e+02] [ 5.13085633e-01 8.57014462e-01 -4.76376526e-02 4.99184162e+01] [ 8.43191283e-02 4.90598116e-03 9.96426724e-01 1.33343484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577105681 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:49.95, Z:13.35 [[ 8.53514178e-01 -5.16380489e-01 -6.97476746e-02 1.48413984e+02] [ 5.14201060e-01 8.56345855e-01 -4.76345036e-02 4.99522848e+01] [ 8.43256603e-02 4.79239594e-03 9.96426724e-01 1.33527293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637105681 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:148.47, Y:49.98, Z:13.35 [[ 8.46181584e-01 -5.28308958e-01 -6.97593895e-02 1.48468638e+02] [ 5.26170899e-01 8.49044624e-01 -4.76173412e-02 4.99820314e+01] [ 8.43855026e-02 3.58755653e-03 9.96426724e-01 1.33508463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697105681 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:50.01, Z:13.35 [[ 8.36964516e-01 -5.42791166e-01 -6.97721220e-02 1.48523328e+02] [ 5.40704242e-01 8.39865042e-01 -4.75986775e-02 5.00134418e+01] [ 8.44353078e-02 2.11232175e-03 9.96426724e-01 1.33514578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:148.57, Y:50.05, Z:13.36 [[ 8.34538453e-01 -5.46512080e-01 -6.97862244e-02 1.48572563e+02] [ 5.44439819e-01 8.37449472e-01 -4.75779924e-02 5.00498875e+01] [ 8.44443844e-02 1.71126476e-03 9.96426725e-01 1.33640281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:50.09, Z:13.38 [[ 8.40644421e-01 -5.37070538e-01 -6.98011099e-02 1.48619169e+02] [ 5.34967408e-01 8.43533215e-01 -4.75561441e-02 5.00899914e+01] [ 8.44205586e-02 2.63648837e-03 9.96426725e-01 1.33767195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:148.67, Y:50.13, Z:13.38 [[ 8.50055248e-01 -5.22046051e-01 -6.98140109e-02 1.48665373e+02] [ 5.19893464e-01 8.52907381e-01 -4.75371975e-02 5.01299298e+01] [ 8.43614914e-02 4.11339620e-03 9.96426725e-01 1.33833884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:148.72, Y:50.17, Z:13.39 [[ 8.55353037e-01 -5.13318052e-01 -6.98266428e-02 1.48717398e+02] [ 5.11137893e-01 8.58184149e-01 -4.75186355e-02 5.01650500e+01] [ 8.43162914e-02 4.95416607e-03 9.96426725e-01 1.33859825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:148.77, Y:50.20, Z:13.40 [[ 8.54338228e-01 -5.15003421e-01 -6.98403034e-02 1.48767895e+02] [ 5.12830482e-01 8.57174885e-01 -4.74985494e-02 5.02002340e+01] [ 8.43272695e-02 4.76359008e-03 9.96426726e-01 1.33954774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057105681 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:148.83, Y:50.23, Z:13.38 [[ 8.53452870e-01 -5.16467453e-01 -6.98539122e-02 1.48826982e+02] [ 5.14301013e-01 8.56294493e-01 -4.74785272e-02 5.02289340e+01] [ 8.43366343e-02 4.59474756e-03 9.96426726e-01 1.33802491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117105681 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:148.88, Y:50.26, Z:13.39 [[ 8.48477671e-01 -5.24598833e-01 -6.98692142e-02 1.48878630e+02] [ 5.22461493e-01 8.51341246e-01 -4.74559982e-02 5.02621292e+01] [ 8.43779051e-02 3.76138085e-03 9.96426726e-01 1.33897552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177105681 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:50.30, Z:13.39 [[ 8.44536535e-01 -5.30919877e-01 -6.98721992e-02 1.48929924e+02] [ 5.28804343e-01 8.47416257e-01 -4.74516028e-02 5.02954594e+01] [ 8.44038367e-02 3.12588980e-03 9.96426726e-01 1.33938694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237105681 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:148.98, Y:50.33, Z:13.39 [[ 8.38339688e-01 -5.40650227e-01 -6.98849072e-02 1.48982112e+02] [ 5.38569693e-01 8.41244797e-01 -4.74328795e-02 5.03274352e+01] [ 8.44349117e-02 2.12697241e-03 9.96426727e-01 1.33938680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297105681 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:149.03, Y:50.36, Z:13.42 [[ 8.28978521e-01 -5.54896056e-01 -6.98926251e-02 1.49030139e+02] [ 5.52866424e-01 8.31919418e-01 -4.74215045e-02 5.03639190e+01] [ 8.44590378e-02 6.70122949e-04 9.96426727e-01 1.34150606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:149.08, Y:50.40, Z:13.41 [[ 8.27921366e-01 -5.56470462e-01 -6.99059151e-02 1.49082290e+02] [ 5.54448077e-01 8.30867251e-01 -4.74019052e-02 5.03985759e+01] [ 8.44602956e-02 4.85849937e-04 9.96426727e-01 1.34114356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417105681 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:149.13, Y:50.44, Z:13.42 [[ 8.24835789e-01 -5.61032234e-01 -6.99196243e-02 1.49128993e+02] [ 5.59027857e-01 8.27793955e-01 -4.73816750e-02 5.04395698e+01] [ 8.44616893e-02 -4.91640655e-06 9.96426727e-01 1.34197410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477105681 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:50.48, Z:13.43 [[ 8.25930626e-01 -5.59417460e-01 -6.99335875e-02 1.49179148e+02] [ 5.57409044e-01 8.28886052e-01 -4.73610569e-02 5.04760752e+01] [ 8.44615774e-02 1.35333215e-04 9.96426728e-01 1.34259117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:50.51, Z:13.44 [[ 8.27844021e-01 -5.56580180e-01 -6.99484174e-02 1.49232649e+02] [ 5.54563487e-01 8.30793804e-01 -4.73391443e-02 5.05067434e+01] [ 8.44607412e-02 3.98589320e-04 9.96426728e-01 1.34357381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:50.54, Z:13.43 [[ 8.43970377e-01 -5.31807578e-01 -6.99621516e-02 1.49285404e+02] [ 5.29706052e-01 8.46860335e-01 -4.73188379e-02 5.05389029e+01] [ 8.44126877e-02 2.87632236e-03 9.96426728e-01 1.34337545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:149.34, Y:50.57, Z:13.44 [[ 8.55041186e-01 -5.13817170e-01 -6.99749040e-02 1.49337057e+02] [ 5.11656456e-01 8.57887163e-01 -4.72999722e-02 5.05732738e+01] [ 8.43341097e-02 4.64031289e-03 9.96426729e-01 1.34448143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:149.39, Y:50.61, Z:13.45 [[ 8.59661787e-01 -5.06046144e-01 -6.99922306e-02 1.49390028e+02] [ 5.03861800e-01 8.62489667e-01 -4.72743194e-02 5.06056995e+01] [ 8.42905627e-02 5.37351461e-03 9.96426729e-01 1.34520460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777105681 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:149.45, Y:50.63, Z:13.46 [[ 8.57841463e-01 -5.09123636e-01 -7.00081911e-02 1.49446745e+02] [ 5.06951360e-01 8.60678623e-01 -4.72506718e-02 5.06341912e+01] [ 8.43109874e-02 5.04283769e-03 9.96426729e-01 1.34585820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837105681 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:50.66, Z:13.46 [[ 8.48081751e-01 -5.25218035e-01 -7.00239969e-02 1.49503284e+02] [ 5.23101604e-01 8.50960810e-01 -4.72272365e-02 5.06626939e+01] [ 8.43922735e-02 3.42289231e-03 9.96426730e-01 1.34594538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897105681 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:50.69, Z:13.46 [[ 8.39060640e-01 -5.39511981e-01 -7.00290349e-02 1.49558457e+02] [ 5.37445258e-01 8.41975587e-01 -4.72197650e-02 5.06918458e+01] [ 8.44383667e-02 1.98347348e-03 9.96426730e-01 1.34630891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957105681 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:149.61, Y:50.73, Z:13.47 [[ 8.32986452e-01 -5.48841818e-01 -7.00444808e-02 1.49609717e+02] [ 5.46809680e-01 8.35925614e-01 -4.71968418e-02 5.07265665e+01] [ 8.44555761e-02 1.01332959e-03 9.96426730e-01 1.34658966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017105681 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:50.77, Z:13.47 [[ 8.32814139e-01 -5.49101336e-01 -7.00594964e-02 1.49657590e+02] [ 5.47071989e-01 8.35755228e-01 -4.71745421e-02 5.07652220e+01] [ 8.44561945e-02 9.60037575e-04 9.96426731e-01 1.34665487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077105681 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:50.81, Z:13.48 [[ 8.38873539e-01 -5.39797109e-01 -7.00732954e-02 1.49702352e+02] [ 5.37736862e-01 8.41793065e-01 -4.71540361e-02 5.08080686e+01] [ 8.44408265e-02 1.87527916e-03 9.96426731e-01 1.34797335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137105681 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:149.75, Y:50.85, Z:13.49 [[ 8.47089325e-01 -5.26809917e-01 -7.00784341e-02 1.49749681e+02] [ 5.24705568e-01 8.49977226e-01 -4.71463980e-02 5.08487542e+01] [ 8.44022629e-02 3.16666592e-03 9.96426731e-01 1.34861321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197105681 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:50.89, Z:13.50 [[ 8.48323708e-01 -5.24817949e-01 -7.00928435e-02 1.49794445e+02] [ 5.22708587e-01 8.51207948e-01 -4.71249656e-02 5.08899308e+01] [ 8.43956133e-02 3.33909442e-03 9.96426731e-01 1.35029441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:50.92, Z:13.51 [[ 8.48494064e-01 -5.24540645e-01 -7.01065952e-02 1.49846804e+02] [ 5.22432027e-01 8.51378848e-01 -4.71044988e-02 5.09234144e+01] [ 8.43954964e-02 3.34195697e-03 9.96426732e-01 1.35105760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:149.90, Y:50.96, Z:13.51 [[ 8.51904570e-01 -5.18981329e-01 -7.01212054e-02 1.49900679e+02] [ 5.16855679e-01 8.54776826e-01 -4.70827396e-02 5.09556166e+01] [ 8.43730442e-02 3.86745786e-03 9.96426732e-01 1.35100680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:149.96, Y:50.99, Z:13.51 [[ 8.61708424e-01 -5.02533181e-01 -7.01355438e-02 1.49956476e+02] [ 5.00354517e-01 8.64540678e-01 -4.70613712e-02 5.09856886e+01] [ 8.42849311e-02 5.46054382e-03 9.96426732e-01 1.35070893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:51.02, Z:13.52 [[ 8.68840443e-01 -4.90097164e-01 -7.01502325e-02 1.50008759e+02] [ 4.87879774e-01 8.71642481e-01 -4.70394659e-02 5.10180862e+01] [ 8.41998315e-02 6.64491081e-03 9.96426733e-01 1.35166528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497105681 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:51.05, Z:13.52 [[ 8.70910998e-01 -4.86405929e-01 -7.01662739e-02 1.50063540e+02] [ 4.84178578e-01 8.73705125e-01 -4.70155256e-02 5.10482029e+01] [ 8.41732635e-02 6.97333154e-03 9.96426733e-01 1.35199965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557105681 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:150.12, Y:51.08, Z:13.52 [[ 8.66766874e-01 -4.93750889e-01 -7.01800922e-02 1.50120425e+02] [ 4.91548895e-01 8.69581028e-01 -4.69948900e-02 5.10760287e+01] [ 8.42310454e-02 6.23666707e-03 9.96426733e-01 1.35213965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617105681 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:150.18, Y:51.10, Z:13.53 [[ 8.55460755e-01 -5.13088392e-01 -7.01940009e-02 1.50178919e+02] [ 5.10951840e-01 8.58324909e-01 -4.69741062e-02 5.10987581e+01] [ 8.43511281e-02 4.31875042e-03 9.96426734e-01 1.35328081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677105681 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:150.24, Y:51.13, Z:13.53 [[ 8.46613066e-01 -5.27557755e-01 -7.02077777e-02 1.50236696e+02] [ 5.25471910e-01 8.49514356e-01 -4.69535063e-02 5.11251078e+01] [ 8.44132014e-02 2.85923691e-03 9.96426734e-01 1.35344394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737105681 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:51.16, Z:13.54 [[ 8.37710662e-01 -5.41582052e-01 -7.02120141e-02 1.50289064e+02] [ 5.39545338e-01 8.40646651e-01 -4.69471705e-02 5.11564990e+01] [ 8.44492394e-02 1.44558038e-03 9.96426734e-01 1.35428329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797105681 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:51.19, Z:13.55 [[ 8.33207151e-01 -5.48483562e-01 -7.02255345e-02 1.50341576e+02] [ 5.46472875e-01 8.36161025e-01 -4.69269374e-02 5.11900718e+01] [ 8.44585087e-02 7.23510023e-04 9.96426734e-01 1.35460888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857105681 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:51.23, Z:13.55 [[ 8.32014988e-01 -5.50288446e-01 -7.02402020e-02 1.50391656e+02] [ 5.48286021e-01 8.34974468e-01 -4.69049729e-02 5.12269749e+01] [ 8.44600399e-02 5.13919583e-04 9.96426735e-01 1.35497324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917105681 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:150.44, Y:51.26, Z:13.56 [[ 8.32579449e-01 -5.49432139e-01 -7.02551462e-02 1.50441546e+02] [ 5.47428560e-01 8.35538147e-01 -4.68825786e-02 5.12623877e+01] [ 8.44596501e-02 5.73797883e-04 9.96426735e-01 1.35610724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977105681 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:51.30, Z:13.57 [[ 8.35188417e-01 -5.45456230e-01 -7.02695468e-02 1.50488760e+02] [ 5.43440383e-01 8.38138770e-01 -4.68609845e-02 5.13040464e+01] [ 8.44562474e-02 9.50441974e-04 9.96426735e-01 1.35659540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:51.35, Z:13.57 [[ 8.39283047e-01 -5.39132770e-01 -7.02838810e-02 1.50532958e+02] [ 5.37096498e-01 8.42219339e-01 -4.68394757e-02 5.13475227e+01] [ 8.44471401e-02 1.56235151e-03 9.96426736e-01 1.35717561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:51.39, Z:13.57 [[ 8.42912877e-01 -5.33438773e-01 -7.02919372e-02 1.50579272e+02] [ 5.31383678e-01 8.45836026e-01 -4.68273826e-02 5.13899062e+01] [ 8.44349944e-02 2.11941565e-03 9.96426736e-01 1.35720332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:51.43, Z:13.58 [[ 8.39096758e-01 -5.39419893e-01 -7.03051154e-02 1.50627661e+02] [ 5.37387296e-01 8.42035595e-01 -4.68075889e-02 5.14303999e+01] [ 8.44483544e-02 1.49502024e-03 9.96426736e-01 1.35832973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:51.47, Z:13.59 [[ 8.34285022e-01 -5.46830344e-01 -7.03212395e-02 1.50674845e+02] [ 5.44825898e-01 8.37243130e-01 -4.67833525e-02 5.14709221e+01] [ 8.44585314e-02 7.17817802e-04 9.96426737e-01 1.35947261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:51.51, Z:13.60 [[ 8.30024039e-01 -5.53274802e-01 -7.03355460e-02 1.50725887e+02] [ 5.51295147e-01 8.32998795e-01 -4.67618338e-02 5.15067948e+01] [ 8.44615694e-02 3.78010271e-05 9.96426737e-01 1.35979325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337105681 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:51.54, Z:13.60 [[ 8.39340237e-01 -5.39035127e-01 -7.03498261e-02 1.50776424e+02] [ 5.37006815e-01 8.42282032e-01 -4.67403407e-02 5.15423482e+01] [ 8.44490799e-02 1.45271261e-03 9.96426737e-01 1.36012733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397105681 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:51.57, Z:13.60 [[ 8.52640272e-01 -5.17738932e-01 -7.03630890e-02 1.50828802e+02] [ 5.15638864e-01 8.55531279e-01 -4.67203660e-02 5.15724055e+01] [ 8.43867760e-02 3.55372230e-03 9.96426737e-01 1.36026108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457105681 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:51.61, Z:13.60 [[ 8.57368712e-01 -5.09870224e-01 -7.03650977e-02 1.50880835e+02] [ 5.07743886e-01 8.60240452e-01 -4.67173406e-02 5.16072916e+01] [ 8.43506844e-02 4.32653791e-03 9.96426737e-01 1.36042722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517105681 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:51.63, Z:13.61 [[ 8.52635227e-01 -5.17745024e-01 -7.03793958e-02 1.50936039e+02] [ 5.15647000e-01 8.55527717e-01 -4.66957907e-02 5.16345814e+01] [ 8.43880371e-02 3.52355179e-03 9.96426738e-01 1.36142321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577105681 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:51.66, Z:13.63 [[ 8.44859091e-01 -5.30337637e-01 -7.03925220e-02 1.50990529e+02] [ 5.28284404e-01 8.47783546e-01 -4.66759950e-02 5.16643094e+01] [ 8.44316588e-02 2.24736713e-03 9.96426738e-01 1.36277663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637105681 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:51.69, Z:13.63 [[ 8.40594849e-01 -5.37069022e-01 -7.04071400e-02 1.51046382e+02] [ 5.35041060e-01 8.43536884e-01 -4.66539345e-02 5.16938280e+01] [ 8.44474025e-02 1.54634624e-03 9.96426738e-01 1.36289352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697105681 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:151.10, Y:51.72, Z:13.64 [[ 8.42481138e-01 -5.34103038e-01 -7.04235559e-02 1.51101069e+02] [ 5.32066790e-01 8.45417444e-01 -4.66291418e-02 5.17218474e+01] [ 8.44420689e-02 1.81413706e-03 9.96426739e-01 1.36355565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:51.76, Z:13.64 [[ 8.48285103e-01 -5.24834991e-01 -7.04316422e-02 1.51152724e+02] [ 5.22767688e-01 8.51199628e-01 -4.66169246e-02 5.17563285e+01] [ 8.44175808e-02 2.72505593e-03 9.96426739e-01 1.36401292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:151.21, Y:51.78, Z:13.65 [[ 8.55193601e-01 -5.13499045e-01 -7.04459851e-02 1.51206804e+02] [ 5.11394918e-01 8.58081652e-01 -4.65952400e-02 5.17848719e+01] [ 8.43750185e-02 3.82223236e-03 9.96426739e-01 1.36481221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:51.81, Z:13.65 [[ 8.57583291e-01 -5.09496235e-01 -7.04591013e-02 1.51260687e+02] [ 5.07380257e-01 8.60462670e-01 -4.65753980e-02 5.18142801e+01] [ 8.43574163e-02 4.19272618e-03 9.96426740e-01 1.36479958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:151.31, Y:51.85, Z:13.65 [[ 8.54461217e-01 -5.14713282e-01 -7.04717329e-02 1.51314284e+02] [ 5.12616464e-01 8.57354579e-01 -4.65562776e-02 5.18464599e+01] [ 8.43823974e-02 3.65556304e-03 9.96426740e-01 1.36472953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:151.37, Y:51.88, Z:13.66 [[ 8.49505387e-01 -5.22851564e-01 -7.04758076e-02 1.51368958e+02] [ 5.20782989e-01 8.52419008e-01 -4.65501086e-02 5.18774511e+01] [ 8.44137151e-02 2.84196629e-03 9.96426740e-01 1.36564241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057105681 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:51.91, Z:13.66 [[ 8.46881516e-01 -5.27088808e-01 -7.04917480e-02 1.51419781e+02] [ 5.25036822e-01 8.49806843e-01 -4.65259573e-02 5.19142417e+01] [ 8.44276812e-02 2.39120994e-03 9.96426740e-01 1.36643963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117105681 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:51.95, Z:13.67 [[ 8.50089595e-01 -5.21896752e-01 -7.05085907e-02 1.51472783e+02] [ 5.19829019e-01 8.53003811e-01 -4.65004188e-02 5.19458503e+01] [ 8.44125141e-02 2.87711071e-03 9.96426741e-01 1.36683355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177105681 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:51.98, Z:13.68 [[ 8.53514456e-01 -5.16274712e-01 -7.05230143e-02 1.51523074e+02] [ 5.14189593e-01 8.56416259e-01 -4.64785335e-02 5.19815992e+01] [ 8.43927476e-02 3.40790017e-03 9.96426741e-01 1.36824113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:151.58, Y:52.01, Z:13.68 [[ 8.51241874e-01 -5.20011361e-01 -7.05369117e-02 1.51575538e+02] [ 5.17940729e-01 8.54154031e-01 -4.64574330e-02 5.20148207e+01] [ 8.44077804e-02 3.01257296e-03 9.96426741e-01 1.36814059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297105681 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:151.63, Y:52.05, Z:13.69 [[ 8.41688327e-01 -5.35335592e-01 -7.05447710e-02 1.51631211e+02] [ 5.33319015e-01 8.44638174e-01 -4.64454957e-02 5.20454675e+01] [ 8.44487335e-02 1.46976383e-03 9.96426742e-01 1.36851704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357105681 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:52.08, Z:13.69 [[ 8.36516907e-01 -5.43378856e-01 -7.05612011e-02 1.51685105e+02] [ 5.41392753e-01 8.39487357e-01 -4.64205213e-02 5.20782697e+01] [ 8.44591660e-02 6.30227981e-04 9.96426742e-01 1.36896055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417105681 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:52.12, Z:13.70 [[ 8.41082306e-01 -5.36282852e-01 -7.05780240e-02 1.51734374e+02] [ 5.34273838e-01 8.44037307e-01 -4.63949297e-02 5.21176843e+01] [ 8.44512905e-02 1.31396272e-03 9.96426742e-01 1.36982486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477105681 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:151.78, Y:52.16, Z:13.70 [[ 8.52859276e-01 -5.17346470e-01 -7.05952175e-02 1.51781976e+02] [ 5.15274062e-01 8.55770168e-01 -4.63687531e-02 5.21580399e+01] [ 8.44019919e-02 3.17013675e-03 9.96426743e-01 1.37023369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:52.19, Z:13.71 [[ 8.57227397e-01 -5.10074521e-01 -7.06057573e-02 1.51834143e+02] [ 5.07978750e-01 8.60121513e-01 -4.63526986e-02 5.21943384e+01] [ 8.43728613e-02 3.86857886e-03 9.96426743e-01 1.37055867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:52.23, Z:13.70 [[ 8.57708965e-01 -5.09262023e-01 -7.06224015e-02 1.51887991e+02] [ 5.07165593e-01 8.60602603e-01 -4.63273258e-02 5.22274918e+01] [ 8.43705703e-02 3.91811052e-03 9.96426744e-01 1.37046130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:151.94, Y:52.26, Z:13.71 [[ 8.57134129e-01 -5.10226607e-01 -7.06391853e-02 1.51940812e+02] [ 5.08135538e-01 8.60031643e-01 -4.63017202e-02 5.22614102e+01] [ 8.43763041e-02 3.79250418e-03 9.96426744e-01 1.37100079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:151.99, Y:52.30, Z:13.71 [[ 8.55534925e-01 -5.12901326e-01 -7.06556578e-02 1.51994655e+02] [ 5.10821389e-01 8.58440439e-01 -4.62765698e-02 5.22953816e+01] [ 8.43889879e-02 3.49880039e-03 9.96426744e-01 1.37113382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777105681 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:152.05, Y:52.33, Z:13.71 [[ 8.52447612e-01 -5.18014028e-01 -7.06720231e-02 1.52047659e+02] [ 5.15953592e-01 8.55366988e-01 -4.62515638e-02 5.23294929e+01] [ 8.44094744e-02 2.96355102e-03 9.96426745e-01 1.37143464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:52.36, Z:13.72 [[ 8.49053724e-01 -5.23556002e-01 -7.06886646e-02 1.52099603e+02] [ 5.21516743e-01 8.51987930e-01 -4.62261158e-02 5.23613572e+01] [ 8.44278494e-02 2.38313359e-03 9.96426745e-01 1.37220102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897105681 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:52.40, Z:13.72 [[ 8.41915127e-01 -5.34958758e-01 -7.06968567e-02 1.52149280e+02] [ 5.32960307e-01 8.44877278e-01 -4.62135837e-02 5.23989834e+01] [ 8.44525292e-02 1.22929673e-03 9.96426746e-01 1.37151209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957105681 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:52.44, Z:13.72 [[ 8.35443253e-01 -5.45008993e-01 -7.07090389e-02 1.52198577e+02] [ 5.43047759e-01 8.38430175e-01 -4.61949368e-02 5.24376810e+01] [ 8.44612479e-02 1.94863093e-04 9.96426746e-01 1.37190285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017105681 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:152.25, Y:52.48, Z:13.73 [[ 8.29076814e-01 -5.54644073e-01 -7.07219097e-02 1.52248663e+02] [ 5.52719230e-01 8.32087316e-01 -4.61752239e-02 5.24759995e+01] [ 8.44576183e-02 -8.06551905e-04 9.96426746e-01 1.37265781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077105681 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:52.52, Z:13.73 [[ 8.29328827e-01 -5.54265170e-01 -7.07376750e-02 1.52297346e+02] [ 5.52341012e-01 8.32339766e-01 -4.61510599e-02 5.25166605e+01] [ 8.44577049e-02 -7.96914559e-04 9.96426746e-01 1.37300513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137105681 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:52.56, Z:13.74 [[ 8.36406493e-01 -5.43523740e-01 -7.07539611e-02 1.52345539e+02] [ 5.41563024e-01 8.39393755e-01 -4.61260783e-02 5.25563249e+01] [ 8.44610516e-02 2.62422268e-04 9.96426747e-01 1.37408951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197105681 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:52.59, Z:13.74 [[ 8.37785824e-01 -5.41393346e-01 -7.07683373e-02 1.52398688e+02] [ 5.39426898e-01 8.40769315e-01 -4.61040113e-02 5.25893228e+01] [ 8.44602514e-02 4.50942456e-04 9.96426747e-01 1.37436592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:152.45, Y:52.62, Z:13.75 [[ 8.33198830e-01 -5.48424609e-01 -7.07824711e-02 1.52454173e+02] [ 5.46485183e-01 8.36199956e-01 -4.60823019e-02 5.26187377e+01] [ 8.44609676e-02 -2.85851688e-04 9.96426748e-01 1.37512804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:52.65, Z:13.76 [[ 8.30815108e-01 -5.52027031e-01 -7.07984069e-02 1.52509255e+02] [ 5.50102704e-01 8.33825937e-01 -4.60578059e-02 5.26500062e+01] [ 8.44587018e-02 -6.80874088e-04 9.96426748e-01 1.37557215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:152.56, Y:52.68, Z:13.76 [[ 8.29337320e-01 -5.54242653e-01 -7.08144931e-02 1.52561775e+02] [ 5.52328481e-01 8.32354616e-01 -4.60330600e-02 5.26837460e+01] [ 8.44562554e-02 -9.35926851e-04 9.96426748e-01 1.37609499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:52.72, Z:13.76 [[ 8.27980628e-01 -5.56265595e-01 -7.08284385e-02 1.52615952e+02] [ 5.54360632e-01 8.31003745e-01 -4.60115930e-02 5.27154415e+01] [ 8.44533638e-02 -1.16779027e-03 9.96426749e-01 1.37646664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497105681 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:52.74, Z:13.77 [[ 8.29623513e-01 -5.53810558e-01 -7.08427266e-02 1.52669164e+02] [ 5.51898526e-01 8.32642165e-01 -4.59895836e-02 5.27449962e+01] [ 8.44561582e-02 -9.43956499e-04 9.96426749e-01 1.37731481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557105681 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:52.78, Z:13.77 [[ 8.32449615e-01 -5.49551715e-01 -7.08558486e-02 1.52718480e+02] [ 5.47625960e-01 8.35459530e-01 -4.59693578e-02 5.27836224e+01] [ 8.44597333e-02 -5.35327915e-04 9.96426749e-01 1.37702284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617105681 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:52.82, Z:13.78 [[ 8.40632902e-01 -5.36948568e-01 -7.08700238e-02 1.52771297e+02] [ 5.34979530e-01 8.43614681e-01 -4.59474938e-02 5.28185186e+01] [ 8.44584335e-02 7.10962979e-04 9.96426750e-01 1.37772939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677105681 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:152.83, Y:52.85, Z:13.78 [[ 8.48051995e-01 -5.25150445e-01 -7.08859966e-02 1.52825516e+02] [ 5.23141996e-01 8.51007371e-01 -4.59228383e-02 5.28482582e+01] [ 8.44409046e-02 1.86151287e-03 9.96426750e-01 1.37842725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737105681 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:52.88, Z:13.79 [[ 8.48032596e-01 -5.25179863e-01 -7.09001180e-02 1.52880907e+02] [ 5.23173339e-01 8.50989279e-01 -4.59010261e-02 5.28774079e+01] [ 8.44415349e-02 1.83251485e-03 9.96426750e-01 1.37936351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797105681 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:152.93, Y:52.91, Z:13.80 [[ 8.53379403e-01 -5.16444030e-01 -7.09165643e-02 1.52933848e+02] [ 5.14409360e-01 8.56316787e-01 -4.58756027e-02 5.29114406e+01] [ 8.44192256e-02 2.66914996e-03 9.96426751e-01 1.38048034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857105681 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:152.99, Y:52.94, Z:13.80 [[ 8.65788258e-01 -4.95357665e-01 -7.09328976e-02 1.52990168e+02] [ 4.93253622e-01 8.68676356e-01 -4.58503343e-02 5.29410033e+01] [ 8.43300455e-02 4.70877244e-03 9.96426751e-01 1.38046451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:153.05, Y:52.97, Z:13.80 [[ 8.71053803e-01 -4.86036329e-01 -7.09503941e-02 1.53045770e+02] [ 4.83903601e-01 8.73920783e-01 -4.58232438e-02 5.29691407e+01] [ 8.42767851e-02 5.58135961e-03 9.96426752e-01 1.38029643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977105681 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:153.10, Y:53.00, Z:13.81 [[ 8.70325256e-01 -4.87337716e-01 -7.09640788e-02 1.53101735e+02] [ 4.85210994e-01 8.73196693e-01 -4.58020411e-02 5.29987955e+01] [ 8.42866610e-02 5.43012197e-03 9.96426752e-01 1.38121469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:153.16, Y:53.02, Z:13.81 [[ 8.63075706e-01 -5.00062085e-01 -7.09805406e-02 1.53163626e+02] [ 4.97979838e-01 8.65979556e-01 -4.57765157e-02 5.30204753e+01] [ 8.43587969e-02 4.16172046e-03 9.96426753e-01 1.38113444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:53.05, Z:13.81 [[ 8.54710062e-01 -5.14227724e-01 -7.09968815e-02 1.53222344e+02] [ 5.12195753e-01 8.57649312e-01 -4.57511580e-02 5.30454971e+01] [ 8.44169404e-02 2.73967390e-03 9.96426753e-01 1.38133185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:153.28, Y:53.07, Z:13.82 [[ 8.46822441e-01 -5.27113758e-01 -7.10129576e-02 1.53280067e+02] [ 5.25128629e-01 8.49793527e-01 -4.57261918e-02 5.30683668e+01] [ 8.44492565e-02 1.43102833e-03 9.96426754e-01 1.38174306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:53.10, Z:13.83 [[ 8.41666577e-01 -5.35306191e-01 -7.10257382e-02 1.53334906e+02] [ 5.33351662e-01 8.44657881e-01 -4.57063313e-02 5.30967279e+01] [ 8.44593316e-02 5.87795925e-04 9.96426754e-01 1.38264688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277105681 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:153.39, Y:53.13, Z:13.83 [[ 8.42204786e-01 -5.34457237e-01 -7.10391465e-02 1.53391251e+02] [ 5.32501451e-01 8.45195268e-01 -4.56854820e-02 5.31262451e+01] [ 8.44588870e-02 6.48082997e-04 9.96426754e-01 1.38282350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:53.16, Z:13.83 [[ 8.44319597e-01 -5.31107935e-01 -7.10547651e-02 1.53442733e+02] [ 5.29142331e-01 8.47303635e-01 -4.56611774e-02 5.31631214e+01] [ 8.44559744e-02 9.54542875e-04 9.96426755e-01 1.38326493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397105681 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:53.20, Z:13.84 [[ 8.47160043e-01 -5.26563215e-01 -7.10706765e-02 1.53493417e+02] [ 5.24583683e-01 8.50134859e-01 -4.56363982e-02 5.31985298e+01] [ 8.44501082e-02 1.37881589e-03 9.96426755e-01 1.38414935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457105681 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:53.23, Z:13.86 [[ 8.45754011e-01 -5.28817278e-01 -7.10805055e-02 1.53543469e+02] [ 5.26846961e-01 8.48734939e-01 -4.56210841e-02 5.32337407e+01] [ 8.44537260e-02 1.13566653e-03 9.96426755e-01 1.38555803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517105681 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:153.59, Y:53.27, Z:13.86 [[ 8.44857274e-01 -5.30246996e-01 -7.10936752e-02 1.53592264e+02] [ 5.28283450e-01 8.47842666e-01 -4.56005519e-02 5.32727115e+01] [ 8.44558067e-02 9.68345863e-04 9.96426755e-01 1.38639694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577105681 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:153.64, Y:53.31, Z:13.87 [[ 8.54869651e-01 -5.13946977e-01 -7.11082541e-02 1.53640207e+02] [ 5.11928429e-01 8.57818132e-01 -4.55778067e-02 5.33133969e+01] [ 8.44225257e-02 2.56074696e-03 9.96426756e-01 1.38732441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637105681 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:153.69, Y:53.36, Z:13.87 [[ 8.69571999e-01 -4.88657160e-01 -7.11246633e-02 1.53686183e+02] [ 4.86555102e-01 8.72461536e-01 -4.55521856e-02 5.33557375e+01] [ 8.43129346e-02 5.00483739e-03 9.96426756e-01 1.38736413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697105681 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:153.74, Y:53.39, Z:13.88 [[ 8.71979031e-01 -4.84346983e-01 -7.11376821e-02 1.53739466e+02] [ 4.82232297e-01 8.74859339e-01 -4.55318454e-02 5.33867228e+01] [ 8.42886775e-02 5.39792656e-03 9.96426757e-01 1.38764495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:53.42, Z:13.87 [[ 8.69730496e-01 -4.88371987e-01 -7.11453857e-02 1.53793065e+02] [ 4.86271616e-01 8.72621260e-01 -4.55198051e-02 5.34201025e+01] [ 8.43135737e-02 4.99398102e-03 9.96426757e-01 1.38677138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:153.85, Y:53.45, Z:13.87 [[ 8.64553731e-01 -4.97476884e-01 -7.11589520e-02 1.53849795e+02] [ 4.95408722e-01 8.67467623e-01 -4.54985876e-02 5.34463768e+01] [ 8.43625826e-02 4.08320822e-03 9.96426757e-01 1.38700179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:53.47, Z:13.88 [[ 8.59202583e-01 -5.06660965e-01 -7.11729467e-02 1.53906597e+02] [ 5.04625780e-01 8.62139602e-01 -4.54766854e-02 5.34702186e+01] [ 8.44022773e-02 3.15798180e-03 9.96426757e-01 1.38775682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:53.50, Z:13.88 [[ 8.50240128e-01 -5.21559502e-01 -7.11857511e-02 1.53961305e+02] [ 5.19577494e-01 8.53213292e-01 -4.54566336e-02 5.35002575e+01] [ 8.44449682e-02 1.66253975e-03 9.96426758e-01 1.38819189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997105681 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:53.52, Z:13.89 [[ 8.35710600e-01 -5.44535062e-01 -7.11994317e-02 1.54020434e+02] [ 5.42636636e-01 8.38737816e-01 -4.54351954e-02 5.35234357e+01] [ 8.44587128e-02 -6.64745681e-04 9.96426758e-01 1.38861842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057105681 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:53.56, Z:13.89 [[ 8.31131509e-01 -5.51497042e-01 -7.12139534e-02 1.54071196e+02] [ 5.49625919e-01 8.34175677e-01 -4.54124231e-02 5.35596477e+01] [ 8.44497648e-02 -1.39733889e-03 9.96426758e-01 1.38944514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117105681 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:53.60, Z:13.90 [[ 8.36089892e-01 -5.43948388e-01 -7.12309186e-02 1.54119864e+02] [ 5.42052045e-01 8.39118412e-01 -4.53857970e-02 5.36001234e+01] [ 8.44587065e-02 -6.64258975e-04 9.96426759e-01 1.39026972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177105681 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:53.64, Z:13.92 [[ 8.49980007e-01 -5.21974867e-01 -7.12476308e-02 1.54167250e+02] [ 5.20002443e-01 8.52959536e-01 -4.53595468e-02 5.36392469e+01] [ 8.44478896e-02 1.50576581e-03 9.96426759e-01 1.39158194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237105681 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:53.69, Z:13.92 [[ 8.61227708e-01 -5.03197993e-01 -7.12643961e-02 1.54209259e+02] [ 5.01162840e-01 8.64164747e-01 -4.53331917e-02 5.36902868e+01] [ 8.43957499e-02 3.32713368e-03 9.96426760e-01 1.39210863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:53.73, Z:13.92 [[ 8.64679329e-01 -4.97241006e-01 -7.12814202e-02 1.54258862e+02] [ 4.95187828e-01 8.67603795e-01 -4.53064073e-02 5.37301483e+01] [ 8.43722342e-02 3.87782217e-03 9.96426760e-01 1.39233601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357105681 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:53.76, Z:13.93 [[ 8.63714021e-01 -4.98913537e-01 -7.12977723e-02 1.54311720e+02] [ 4.96868142e-01 8.66643936e-01 -4.52806598e-02 5.37638078e+01] [ 8.43809161e-02 3.68394908e-03 9.96426761e-01 1.39270494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417105681 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:154.36, Y:53.80, Z:13.93 [[ 8.60888696e-01 -5.03770644e-01 -7.13147320e-02 1.54363824e+02] [ 5.01743994e-01 8.63831607e-01 -4.52539335e-02 5.37971892e+01] [ 8.44015228e-02 3.17686129e-03 9.96426761e-01 1.39323095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477105681 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:154.42, Y:53.83, Z:13.93 [[ 8.54088180e-01 -5.15213913e-01 -7.13302539e-02 1.54420678e+02] [ 5.13228758e-01 8.57059239e-01 -4.52294543e-02 5.38254469e+01] [ 8.44370972e-02 2.02120466e-03 9.96426762e-01 1.39305568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:154.48, Y:53.86, Z:13.94 [[ 8.45381089e-01 -5.29377795e-01 -7.13439821e-02 1.54475274e+02] [ 5.27444264e-01 8.48386000e-01 -4.52077894e-02 5.38569757e+01] [ 8.44592355e-02 5.87836146e-04 9.96426762e-01 1.39384667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:53.89, Z:13.95 [[ 8.37906858e-01 -5.41128332e-01 -7.13598358e-02 1.54530934e+02] [ 5.39239071e-01 8.40939797e-01 -4.51827509e-02 5.38870997e+01] [ 8.44589924e-02 -6.21074742e-04 9.96426762e-01 1.39458621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:53.92, Z:13.94 [[ 8.35620360e-01 -5.44650401e-01 -7.13761534e-02 1.54584056e+02] [ 5.42776126e-01 8.38662582e-01 -4.51569589e-02 5.39178540e+01] [ 8.44552649e-02 -1.00719780e-03 9.96426763e-01 1.39445740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717105681 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:154.63, Y:53.96, Z:13.95 [[ 8.35560177e-01 -5.44741022e-01 -7.13891428e-02 1.54632365e+02] [ 5.42868831e-01 8.38603682e-01 -4.51364145e-02 5.39572946e+01] [ 8.44548546e-02 -1.04075007e-03 9.96426763e-01 1.39527416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777105681 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:154.68, Y:53.99, Z:13.96 [[ 8.33936905e-01 -5.47221020e-01 -7.14030377e-02 1.54683088e+02] [ 5.45359762e-01 8.36987108e-01 -4.51144229e-02 5.39936640e+01] [ 8.44509826e-02 -1.31776151e-03 9.96426764e-01 1.39579789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837105681 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:54.03, Z:13.96 [[ 8.31809358e-01 -5.50447825e-01 -7.14169764e-02 1.54730355e+02] [ 5.48600292e-01 8.34867894e-01 -4.50923470e-02 5.40345173e+01] [ 8.44447250e-02 -1.67113796e-03 9.96426764e-01 1.39590754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897105681 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:54.07, Z:13.97 [[ 8.28820753e-01 -5.54935993e-01 -7.14297080e-02 1.54780962e+02] [ 5.53106758e-01 8.31890266e-01 -4.50721702e-02 5.40687264e+01] [ 8.44338483e-02 -2.15150419e-03 9.96426764e-01 1.39725283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957105681 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:154.82, Y:54.12, Z:13.98 [[ 8.17377227e-01 -5.71656816e-01 -7.14349596e-02 1.54820464e+02] [ 5.69891032e-01 8.20483675e-01 -4.50638454e-02 5.41221947e+01] [ 8.43722726e-02 -3.87598187e-03 9.96426764e-01 1.39780653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017105681 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:54.15, Z:13.99 [[ 8.19911987e-01 -5.68013331e-01 -7.14506041e-02 1.54875397e+02] [ 5.66235896e-01 8.23011784e-01 -4.50390268e-02 5.41491499e+01] [ 8.43874567e-02 -3.52985885e-03 9.96426765e-01 1.39907970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077105681 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:54.19, Z:13.99 [[ 8.20966211e-01 -5.66486818e-01 -7.14644378e-02 1.54923557e+02] [ 5.64705526e-01 8.24063792e-01 -4.50170658e-02 5.41900766e+01] [ 8.43928300e-02 -3.39887295e-03 9.96426765e-01 1.39914011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137105681 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:54.22, Z:13.99 [[ 8.21757555e-01 -5.65336498e-01 -7.14784247e-02 1.54977049e+02] [ 5.63552798e-01 8.24853749e-01 -4.49948465e-02 5.42240849e+01] [ 8.43964755e-02 -3.30701117e-03 9.96426765e-01 1.39924155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197105681 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:54.26, Z:14.00 [[ 8.22293634e-01 -5.64554409e-01 -7.14947535e-02 1.55027769e+02] [ 5.62770016e-01 8.25389428e-01 -4.49688859e-02 5.42619813e+01] [ 8.43983965e-02 -3.25747494e-03 9.96426766e-01 1.39987371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:54.30, Z:14.00 [[ 8.24245252e-01 -5.61699117e-01 -7.15112961e-02 1.55080089e+02] [ 5.59906278e-01 8.27336163e-01 -4.49425638e-02 5.42977452e+01] [ 8.44080797e-02 -2.99592874e-03 9.96426766e-01 1.40013009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:155.13, Y:54.33, Z:14.00 [[ 8.24989948e-01 -5.60602712e-01 -7.15275093e-02 1.55134659e+02] [ 5.58807999e-01 8.28079770e-01 -4.49167453e-02 5.43305589e+01] [ 8.44109327e-02 -2.91428099e-03 9.96426767e-01 1.40021188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:54.36, Z:14.01 [[ 8.25051957e-01 -5.60509398e-01 -7.15435826e-02 1.55186286e+02] [ 5.58716552e-01 8.28142862e-01 -4.48911291e-02 5.43645485e+01] [ 8.44102070e-02 -2.93506993e-03 9.96426767e-01 1.40088400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:54.40, Z:14.01 [[ 8.25309352e-01 -5.60129073e-01 -7.15534450e-02 1.55239420e+02] [ 5.58336165e-01 8.28400221e-01 -4.48754036e-02 5.43985417e+01] [ 8.44109078e-02 -2.91478586e-03 9.96426767e-01 1.40139605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497105681 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:155.29, Y:54.43, Z:14.02 [[ 8.26154091e-01 -5.58880422e-01 -7.15687978e-02 1.55293044e+02] [ 5.57084960e-01 8.29243477e-01 -4.48509052e-02 5.44309499e+01] [ 8.44142515e-02 -2.81614206e-03 9.96426768e-01 1.40220181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557105681 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:155.35, Y:54.46, Z:14.03 [[ 8.25576150e-01 -5.59731877e-01 -7.15838417e-02 1.55347001e+02] [ 5.57941681e-01 8.28668590e-01 -4.48268816e-02 5.44632402e+01] [ 8.44103158e-02 -2.93160465e-03 9.96426768e-01 1.40284694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617105681 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:155.40, Y:54.50, Z:14.04 [[ 8.27244622e-01 -5.57261107e-01 -7.15988405e-02 1.55398537e+02] [ 5.55463745e-01 8.30332901e-01 -4.48029123e-02 5.44964951e+01] [ 8.44177935e-02 -2.70759183e-03 9.96426769e-01 1.40378227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677105681 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:54.53, Z:14.04 [[ 8.30348567e-01 -5.52623637e-01 -7.16126673e-02 1.55450836e+02] [ 5.50810927e-01 8.33427863e-01 -4.47808009e-02 5.45318728e+01] [ 8.44309213e-02 -2.26136581e-03 9.96426769e-01 1.40416630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737105681 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:54.57, Z:14.05 [[ 8.36574569e-01 -5.43150452e-01 -7.16280469e-02 1.55502230e+02] [ 5.41304968e-01 8.39634334e-01 -4.47561874e-02 5.45679008e+01] [ 8.44507109e-02 -1.33072944e-03 9.96426769e-01 1.40499790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797105681 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:155.55, Y:54.61, Z:14.06 [[ 8.42446020e-01 -5.33996181e-01 -7.16434339e-02 1.55552032e+02] [ 5.32119539e-01 8.45486774e-01 -4.47315430e-02 5.46075123e+01] [ 8.44600490e-02 -4.38960612e-04 9.96426770e-01 1.40551625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857105681 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:155.60, Y:54.64, Z:14.06 [[ 8.43173693e-01 -5.32844348e-01 -7.16590873e-02 1.55603023e+02] [ 5.30965683e-01 8.46213198e-01 -4.47064526e-02 5.46436331e+01] [ 8.44604460e-02 -3.53211504e-04 9.96426770e-01 1.40644099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917105681 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:155.66, Y:54.68, Z:14.07 [[ 8.43471202e-01 -5.32371211e-01 -7.16744322e-02 1.55656830e+02] [ 5.30492933e-01 8.46510946e-01 -4.46818379e-02 5.46754157e+01] [ 8.44605155e-02 -3.34936225e-04 9.96426771e-01 1.40692893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:54.70, Z:14.07 [[ 8.44873663e-01 -5.30140864e-01 -7.16879199e-02 1.55713498e+02] [ 5.28256398e-01 8.47909574e-01 -4.46601877e-02 5.47024991e+01] [ 8.44610641e-02 -1.37385969e-04 9.96426771e-01 1.40728028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:155.77, Y:54.73, Z:14.08 [[ 8.48186290e-01 -5.24822734e-01 -7.17015690e-02 1.55769326e+02] [ 5.22921086e-01 8.51211468e-01 -4.46382634e-02 5.47326135e+01] [ 8.44603732e-02 3.67300742e-04 9.96426771e-01 1.40761794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:155.82, Y:54.76, Z:14.09 [[ 8.54864474e-01 -5.13870925e-01 -7.17175253e-02 1.55822737e+02] [ 5.11932679e-01 8.57866334e-01 -4.46126127e-02 5.47631150e+01] [ 8.44491751e-02 1.42319275e-03 9.96426772e-01 1.40870865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:54.79, Z:14.08 [[ 8.63426038e-01 -4.99350942e-01 -7.17224774e-02 1.55877786e+02] [ 4.97362904e-01 8.66395156e-01 -4.46046500e-02 5.47912357e+01] [ 8.44133810e-02 2.84071660e-03 9.96426772e-01 1.40845154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217105681 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:54.82, Z:14.09 [[ 8.64281506e-01 -4.97866972e-01 -7.17353261e-02 1.55932201e+02] [ 4.95875549e-01 8.67248355e-01 -4.45839765e-02 5.48186994e+01] [ 8.44092329e-02 2.96131216e-03 9.96426772e-01 1.40933604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277105681 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:155.99, Y:54.84, Z:14.10 [[ 8.58713733e-01 -5.07408128e-01 -7.17475897e-02 1.55989262e+02] [ 5.05451332e-01 8.61703534e-01 -4.45642325e-02 5.48448061e+01] [ 8.44374053e-02 2.00300362e-03 9.96426772e-01 1.41019102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337105681 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:156.05, Y:54.87, Z:14.11 [[ 8.52672607e-01 -5.17493533e-01 -7.17625852e-02 1.56047272e+02] [ 5.15574144e-01 8.55686557e-01 -4.45400718e-02 5.48699939e+01] [ 8.44554786e-02 9.79165670e-04 9.96426773e-01 1.41065205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397105681 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:54.90, Z:14.11 [[ 8.51070579e-01 -5.20121825e-01 -7.17785237e-02 1.56101622e+02] [ 5.18213911e-01 8.54091806e-01 -4.45143715e-02 5.49009691e+01] [ 8.44583451e-02 6.88242451e-04 9.96426773e-01 1.41120466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457105681 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:54.93, Z:14.11 [[ 8.53059272e-01 -5.16851500e-01 -7.17941910e-02 1.56158863e+02] [ 5.14934131e-01 8.56074507e-01 -4.44890884e-02 5.49297771e+01] [ 8.44554287e-02 9.82549942e-04 9.96426774e-01 1.41127816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517105681 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:54.96, Z:14.12 [[ 8.55737753e-01 -5.12402259e-01 -7.18110285e-02 1.56210316e+02] [ 5.10471495e-01 8.58744428e-01 -4.44618940e-02 5.49622385e+01] [ 8.44496955e-02 1.39023811e-03 9.96426774e-01 1.41168992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577105681 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:54.99, Z:14.12 [[ 8.59464077e-01 -5.06125227e-01 -7.18244710e-02 1.56265015e+02] [ 5.04174323e-01 8.62457723e-01 -4.44401682e-02 5.49912090e+01] [ 8.44378599e-02 1.98267407e-03 9.96426774e-01 1.41218861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637105681 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:55.02, Z:14.13 [[ 8.62679918e-01 -5.00622088e-01 -7.18392962e-02 1.56319683e+02] [ 4.98654086e-01 8.65662350e-01 -4.44161898e-02 5.50219282e+01] [ 8.44242997e-02 2.49399639e-03 9.96426775e-01 1.41326395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697105681 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:55.05, Z:14.14 [[ 8.65751275e-01 -4.95289395e-01 -7.18550344e-02 1.56375958e+02] [ 4.93305137e-01 8.68722917e-01 -4.43907146e-02 5.50480616e+01] [ 8.44083652e-02 2.98486010e-03 9.96426775e-01 1.41440587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:55.07, Z:14.15 [[ 8.70537665e-01 -4.86825418e-01 -7.18692384e-02 1.56431893e+02] [ 4.84814177e-01 8.73491111e-01 -4.43677061e-02 5.50728183e+01] [ 8.43764680e-02 3.78053358e-03 9.96426776e-01 1.41549791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:55.10, Z:14.16 [[ 8.74860216e-01 -4.79012062e-01 -7.18821716e-02 1.56489886e+02] [ 4.76976176e-01 8.77796727e-01 -4.43467427e-02 5.50956677e+01] [ 8.43405596e-02 4.51111758e-03 9.96426776e-01 1.41556292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:55.12, Z:14.15 [[ 8.76435987e-01 -4.76120900e-01 -7.18947101e-02 1.56550898e+02] [ 4.74076990e-01 8.79366919e-01 -4.43264061e-02 5.51168834e+01] [ 8.43265580e-02 4.76562974e-03 9.96426776e-01 1.41517269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:55.14, Z:14.15 [[ 8.75467329e-01 -4.77897771e-01 -7.19074227e-02 1.56610968e+02] [ 4.75861498e-01 8.78403571e-01 -4.43057738e-02 5.51387899e+01] [ 8.43373674e-02 4.57028359e-03 9.96426777e-01 1.41539359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997105681 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:55.15, Z:14.15 [[ 8.70950943e-01 -4.86078002e-01 -7.19210048e-02 1.56675747e+02] [ 4.84071141e-01 8.73907365e-01 -4.42837152e-02 5.51531148e+01] [ 8.43776356e-02 3.75406060e-03 9.96426777e-01 1.41510054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057105681 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:55.17, Z:14.16 [[ 8.66302600e-01 -4.94312771e-01 -7.19353116e-02 1.56734601e+02] [ 4.92335955e-01 8.69279195e-01 -4.42604629e-02 5.51743061e+01] [ 8.44103818e-02 2.92661379e-03 9.96426777e-01 1.41564643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117105681 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:55.20, Z:14.16 [[ 8.62476047e-01 -5.00957596e-01 -7.19482867e-02 1.56793538e+02] [ 4.99005478e-01 8.65468897e-01 -4.42393609e-02 5.51961372e+01] [ 8.44310482e-02 2.25279988e-03 9.96426778e-01 1.41634229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:55.22, Z:14.17 [[ 8.58972611e-01 -5.06939434e-01 -7.19615428e-02 1.56853029e+02] [ 5.05009968e-01 8.61980115e-01 -4.42177875e-02 5.52172132e+01] [ 8.44451591e-02 1.64057198e-03 9.96426778e-01 1.41671323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237105681 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:55.24, Z:14.17 [[ 8.54295770e-01 -5.14780041e-01 -7.19739249e-02 1.56911125e+02] [ 5.12879882e-01 8.57321875e-01 -4.41976238e-02 5.52418254e+01] [ 8.44568749e-02 8.43864939e-04 9.96426778e-01 1.41694734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297105681 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:156.97, Y:55.27, Z:14.18 [[ 8.55070906e-01 -5.13489574e-01 -7.19875117e-02 1.56967155e+02] [ 5.11586712e-01 8.58095311e-01 -4.41754831e-02 5.52671569e+01] [ 8.44557963e-02 9.45316028e-04 9.96426778e-01 1.41803738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357105681 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:55.30, Z:14.19 [[ 8.60611184e-01 -5.04148523e-01 -7.19906685e-02 1.57020458e+02] [ 5.02213271e-01 8.63614967e-01 -4.41703381e-02 5.52984072e+01] [ 8.44406295e-02 1.85881790e-03 9.96426778e-01 1.41855418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417105681 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:55.33, Z:14.20 [[ 8.66352873e-01 -4.94215978e-01 -7.19949092e-02 1.57073258e+02] [ 4.92246877e-01 8.69334575e-01 -4.41634249e-02 5.53304150e+01] [ 8.44139341e-02 2.82184080e-03 9.96426779e-01 1.42002681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:55.36, Z:14.21 [[ 8.68440332e-01 -4.90536422e-01 -7.20097823e-02 1.57127914e+02] [ 4.88556698e-01 8.71414991e-01 -4.41391605e-02 5.53593038e+01] [ 8.44022697e-02 3.15136571e-03 9.96426779e-01 1.42066238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:55.39, Z:14.22 [[ 8.73171288e-01 -4.82062531e-01 -7.20251201e-02 1.57179051e+02] [ 4.80056014e-01 8.76127941e-01 -4.41141186e-02 5.53916493e+01] [ 8.43689838e-02 3.94308968e-03 9.96426779e-01 1.42153359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:157.23, Y:55.42, Z:14.22 [[ 8.77256496e-01 -4.74585516e-01 -7.20390711e-02 1.57234307e+02] [ 4.72555677e-01 8.80197187e-01 -4.40913247e-02 5.54210655e+01] [ 8.43336918e-02 4.63692904e-03 9.96426780e-01 1.42153167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:55.45, Z:14.21 [[ 8.74628233e-01 -4.79411041e-01 -7.20451805e-02 1.57290759e+02] [ 4.77398252e-01 8.77580620e-01 -4.40813397e-02 5.54487496e+01] [ 8.43585351e-02 4.16054095e-03 9.96426780e-01 1.42143741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717105681 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:157.35, Y:55.47, Z:14.22 [[ 8.70380733e-01 -4.87079263e-01 -7.20497855e-02 1.57346815e+02] [ 4.85093121e-01 8.73351111e-01 -4.40738117e-02 5.54742018e+01] [ 8.43921999e-02 3.41014120e-03 9.96426780e-01 1.42156360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777105681 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:55.50, Z:14.22 [[ 8.65707474e-01 -4.95335598e-01 -7.20639682e-02 1.57404138e+02] [ 4.93379727e-01 8.68697870e-01 -4.40506098e-02 5.54975675e+01] [ 8.44216508e-02 2.58004112e-03 9.96426780e-01 1.42150384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837105681 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:157.46, Y:55.52, Z:14.22 [[ 8.62090128e-01 -5.01604514e-01 -7.20661025e-02 1.57456857e+02] [ 4.99670686e-01 8.65094825e-01 -4.40471178e-02 5.55234750e+01] [ 8.44382455e-02 1.96326657e-03 9.96426780e-01 1.42196514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897105681 meters Centerline goodness : 0.997992 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:55.55, Z:14.22 [[ 8.55211855e-01 -5.13245749e-01 -7.20519509e-02 1.57510940e+02] [ 5.11350884e-01 8.58241275e-01 -4.40702548e-02 5.55472466e+01] [ 8.44568291e-02 8.45575536e-04 9.96426781e-01 1.42238991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957105681 meters Centerline goodness : 0.997726 with order 1 Centerline is valid? [True, True] Translation: X:157.56, Y:55.57, Z:14.24 [[ 8.48267661e-01 -5.24645157e-01 -7.20377256e-02 1.57562409e+02] [ 5.22789031e-01 8.51320969e-01 -4.40934954e-02 5.55744821e+01] [ 8.44606652e-02 -2.57446531e-04 9.96426781e-01 1.42357673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017105681 meters Centerline goodness : 0.997584 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:55.60, Z:14.25 [[ 8.43221697e-01 -5.32719242e-01 -7.20234636e-02 1.57613120e+02] [ 5.30890360e-01 8.46291401e-01 -4.41167791e-02 5.56022755e+01] [ 8.44546950e-02 -1.03633726e-03 9.96426781e-01 1.42484657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077105681 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:55.63, Z:14.25 [[ 8.41269975e-01 -5.35797983e-01 -7.20093800e-02 1.57662951e+02] [ 5.33978368e-01 8.44345181e-01 -4.41397551e-02 5.56308761e+01] [ 8.44507647e-02 -1.31800051e-03 9.96426782e-01 1.42515361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137105681 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:157.71, Y:55.67, Z:14.26 [[ 8.46038178e-01 -5.28238878e-01 -7.19936818e-02 1.57705937e+02] [ 5.26389605e-01 8.49095640e-01 -4.41653447e-02 5.56719442e+01] [ 8.44593734e-02 -5.31157946e-04 9.96426782e-01 1.42644125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197105681 meters Centerline goodness : 0.998271 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:55.71, Z:14.27 [[ 8.53458215e-01 -5.16166607e-01 -7.19799171e-02 1.57755226e+02] [ 5.14272195e-01 8.56487916e-01 -4.41877668e-02 5.57106892e+01] [ 8.44581789e-02 6.95142571e-04 9.96426782e-01 1.42674469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:157.80, Y:55.75, Z:14.28 [[ 8.60512537e-01 -5.04316208e-01 -7.19953888e-02 1.57801606e+02] [ 5.02382193e-01 8.63517112e-01 -4.41625444e-02 5.57527995e+01] [ 8.44411371e-02 1.83322185e-03 9.96426783e-01 1.42787292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:55.79, Z:14.29 [[ 8.69262685e-01 -4.89078187e-01 -7.20063360e-02 1.57850961e+02] [ 4.87093016e-01 8.72233707e-01 -4.41446879e-02 5.57894674e+01] [ 8.43965573e-02 3.29954654e-03 9.96426783e-01 1.42920237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:55.82, Z:14.29 [[ 8.75849208e-01 -4.77181025e-01 -7.20169001e-02 1.57903538e+02] [ 4.75156944e-01 8.78793859e-01 -4.41274472e-02 5.58205862e+01] [ 8.43447901e-02 4.42965949e-03 9.96426783e-01 1.42914810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:157.96, Y:55.85, Z:14.29 [[ 8.75914861e-01 -4.77060042e-01 -7.20199387e-02 1.57961076e+02] [ 4.75035960e-01 8.78859512e-01 -4.41224873e-02 5.58491390e+01] [ 8.43444839e-02 4.43548165e-03 9.96426783e-01 1.42874418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497105681 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:158.02, Y:55.87, Z:14.29 [[ 8.72289458e-01 -4.83654450e-01 -7.20380035e-02 1.58019739e+02] [ 4.81655071e-01 8.75250937e-01 -4.40929735e-02 5.58714640e+01] [ 8.43770930e-02 3.76436632e-03 9.96426784e-01 1.42890039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557105681 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:55.89, Z:14.29 [[ 8.68830897e-01 -4.89839522e-01 -7.20424499e-02 1.58078607e+02] [ 4.87861835e-01 8.71806905e-01 -4.40857076e-02 5.58943276e+01] [ 8.44020272e-02 3.15626304e-03 9.96426784e-01 1.42936572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617105681 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:158.14, Y:55.92, Z:14.30 [[ 8.65609760e-01 -4.95508839e-01 -7.20467453e-02 1.58135579e+02] [ 4.93551233e-01 8.68599016e-01 -4.40786867e-02 5.59183939e+01] [ 8.44211109e-02 2.59618150e-03 9.96426784e-01 1.43011559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677105681 meters Centerline goodness : 0.997242 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:55.94, Z:14.31 [[ 8.56541979e-01 -5.11023285e-01 -7.20488674e-02 1.58190774e+02] [ 5.09120143e-01 8.59566202e-01 -4.40752178e-02 5.59379735e+01] [ 8.44542339e-02 1.07074461e-03 9.96426784e-01 1.43060554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737105681 meters Centerline goodness : 0.996140 with order 1 Centerline is valid? [True, True] Translation: X:158.24, Y:55.96, Z:14.31 [[ 8.51323394e-01 -5.19672896e-01 -7.20316623e-02 1.58244306e+02] [ 5.17798106e-01 8.54365273e-01 -4.41033181e-02 5.59621077e+01] [ 8.44606498e-02 2.48328185e-04 9.96426785e-01 1.43130489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797105681 meters Centerline goodness : 0.996037 with order 1 Centerline is valid? [True, True] Translation: X:158.30, Y:55.99, Z:14.32 [[ 8.52682486e-01 -5.17441899e-01 -7.20170677e-02 1.58296864e+02] [ 5.15557138e-01 8.55718197e-01 -4.41271371e-02 5.59877315e+01] [ 8.44595449e-02 4.97523692e-04 9.96426785e-01 1.43213505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857105681 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:56.02, Z:14.33 [[ 8.59739644e-01 -5.05631675e-01 -7.20024565e-02 1.58346109e+02] [ 5.03703227e-01 8.62747791e-01 -4.41509654e-02 5.60167179e+01] [ 8.44440869e-02 1.69046562e-03 9.96426785e-01 1.43306136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917105681 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:56.05, Z:14.34 [[ 8.69128659e-01 -4.89317644e-01 -7.19973418e-02 1.58395370e+02] [ 4.87332083e-01 8.72099419e-01 -4.41593044e-02 5.60458725e+01] [ 8.43967667e-02 3.29350241e-03 9.96426785e-01 1.43353413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters Centerline goodness : 0.996513 with order 1 Centerline is valid? [True, True] Translation: X:158.45, Y:56.07, Z:14.33 [[ 8.73656416e-01 -4.81189453e-01 -7.19803930e-02 1.58447719e+02] [ 4.79174001e-01 8.76606978e-01 -4.41869141e-02 5.60709202e+01] [ 8.43607917e-02 4.11304818e-03 9.96426786e-01 1.43348035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters Centerline goodness : 0.996025 with order 1 Centerline is valid? [True, True] Translation: X:158.50, Y:56.10, Z:14.34 [[ 8.77959706e-01 -4.73293472e-01 -7.19725231e-02 1.58500859e+02] [ 4.71250456e-01 8.80891249e-01 -4.41997290e-02 5.60959310e+01] [ 8.43194089e-02 4.88849677e-03 9.96426786e-01 1.43370413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters Centerline goodness : 0.996204 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:56.12, Z:14.34 [[ 8.83941455e-01 -4.62027703e-01 -7.19576740e-02 1.58555702e+02] [ 4.59945412e-01 8.86845232e-01 -4.42238903e-02 5.61183886e+01] [ 8.42479826e-02 5.99472788e-03 9.96426786e-01 1.43401134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters Centerline goodness : 0.996078 with order 1 Centerline is valid? [True, True] Translation: X:158.61, Y:56.14, Z:14.35 [[ 8.88111567e-01 -4.53962636e-01 -7.19428258e-02 1.58606960e+02] [ 4.51852062e-01 8.90994852e-01 -4.42480321e-02 5.61440304e+01] [ 8.41876407e-02 6.78967489e-03 9.96426787e-01 1.43515070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217105681 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:56.16, Z:14.34 [[ 8.88639641e-01 -4.52928878e-01 -7.19376072e-02 1.58666885e+02] [ 4.50814270e-01 8.91519969e-01 -4.42565148e-02 5.61598870e+01] [ 8.41788669e-02 6.89759358e-03 9.96426787e-01 1.43448351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277105681 meters Centerline goodness : 0.994206 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:56.17, Z:14.35 [[ 8.81131433e-01 -4.67369698e-01 -7.19233176e-02 1.58727773e+02] [ 4.65300491e-01 8.84044546e-01 -4.42797253e-02 5.61712825e+01] [ 8.42784185e-02 5.55030278e-03 9.96426787e-01 1.43530082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337105681 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:56.19, Z:14.36 [[ 8.74767339e-01 -4.79177699e-01 -7.19085272e-02 1.58786200e+02] [ 4.77145891e-01 8.77706659e-01 -4.43037314e-02 5.61867063e+01] [ 8.43439532e-02 4.44459891e-03 9.96426788e-01 1.43607500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397105681 meters Centerline goodness : 0.996115 with order 1 Centerline is valid? [True, True] Translation: X:158.84, Y:56.21, Z:14.36 [[ 8.72829921e-01 -4.82699978e-01 -7.18933944e-02 1.58839095e+02] [ 4.80678020e-01 8.75776025e-01 -4.43282744e-02 5.62102727e+01] [ 8.43597683e-02 4.13346976e-03 9.96426788e-01 1.43647209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457105681 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:56.22, Z:14.38 [[ 8.70142546e-01 -4.87530239e-01 -7.18763922e-02 1.58898515e+02] [ 4.85522370e-01 8.73098270e-01 -4.43558259e-02 5.62242458e+01] [ 8.43799600e-02 3.69829495e-03 9.96426789e-01 1.43770108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517105681 meters Centerline goodness : 0.997240 with order 1 Centerline is valid? [True, True] Translation: X:158.95, Y:56.24, Z:14.39 [[ 8.72110517e-01 -4.84003271e-01 -7.18615360e-02 1.58954854e+02] [ 4.81981476e-01 8.75056731e-01 -4.43798816e-02 5.62431301e+01] [ 8.43629286e-02 4.06823233e-03 9.96426789e-01 1.43869038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577105681 meters Centerline goodness : 0.997600 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:56.26, Z:14.39 [[ 8.79432433e-01 -4.70570537e-01 -7.18468234e-02 1.59012770e+02] [ 4.68501859e-01 8.82345919e-01 -4.44036871e-02 5.62582091e+01] [ 8.42888184e-02 5.38967225e-03 9.96426789e-01 1.43940316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637105681 meters Centerline goodness : 0.997599 with order 1 Centerline is valid? [True, True] Translation: X:159.07, Y:56.28, Z:14.40 [[ 8.82498019e-01 -4.64796750e-01 -7.18416788e-02 1.59069842e+02] [ 4.62708349e-01 8.85397401e-01 -4.44120091e-02 5.62786551e+01] [ 8.42509932e-02 5.95176546e-03 9.96426789e-01 1.43951007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697105681 meters Centerline goodness : 0.998006 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:56.30, Z:14.40 [[ 8.80760688e-01 -4.68082736e-01 -7.18273139e-02 1.59125213e+02] [ 4.66003273e-01 8.83666487e-01 -4.44352293e-02 5.62983962e+01] [ 8.42707539e-02 5.66503976e-03 9.96426790e-01 1.43988438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:56.32, Z:14.41 [[ 8.76464160e-01 -4.76081651e-01 -7.18111221e-02 1.59178056e+02] [ 4.74026596e-01 8.79387271e-01 -4.44613814e-02 5.63218373e+01] [ 8.43170345e-02 4.92842552e-03 9.96426790e-01 1.44056416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:159.23, Y:56.35, Z:14.41 [[ 8.71667518e-01 -4.84810516e-01 -7.17948541e-02 1.59230297e+02] [ 4.82782599e-01 8.74609520e-01 -4.44876351e-02 5.63466969e+01] [ 8.43605362e-02 4.11712023e-03 9.96426791e-01 1.44130339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:56.37, Z:14.42 [[ 8.65480183e-01 -4.95772389e-01 -7.17899175e-02 1.59282131e+02] [ 4.93781101e-01 8.68447100e-01 -4.44955999e-02 5.63718869e+01] [ 8.44054355e-02 3.06155540e-03 9.96426791e-01 1.44191099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:56.40, Z:14.42 [[ 8.61222181e-01 -5.03135154e-01 -7.17730607e-02 1.59332146e+02] [ 5.01166979e-01 8.64204479e-01 -4.45227739e-02 5.64022581e+01] [ 8.44275733e-02 2.37371241e-03 9.96426791e-01 1.44228854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997105681 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:56.43, Z:14.42 [[ 8.62378605e-01 -5.01152573e-01 -7.17582072e-02 1.59383858e+02] [ 4.99175553e-01 8.65355048e-01 -4.45467007e-02 5.64307573e+01] [ 8.44210205e-02 2.59617884e-03 9.96426792e-01 1.44238635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057105681 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:56.46, Z:14.43 [[ 8.65215868e-01 -4.96240292e-01 -7.17431223e-02 1.59431534e+02] [ 4.94244368e-01 8.68179666e-01 -4.45709820e-02 5.64631375e+01] [ 8.44038371e-02 3.10488677e-03 9.96426792e-01 1.44327866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:159.48, Y:56.49, Z:14.45 [[ 8.67032327e-01 -4.93062242e-01 -7.17256590e-02 1.59478974e+02] [ 4.91053138e-01 8.69987206e-01 -4.45990673e-02 5.64934145e+01] [ 8.43905218e-02 3.44772314e-03 9.96426793e-01 1.44472292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177105681 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:159.53, Y:56.52, Z:14.46 [[ 8.68505714e-01 -4.90463229e-01 -7.17192236e-02 1.59528548e+02] [ 4.88444432e-01 8.71453979e-01 -4.46094135e-02 5.65228446e+01] [ 8.43792798e-02 3.71267511e-03 9.96426793e-01 1.44574822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237105681 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:56.56, Z:14.46 [[ 8.70193735e-01 -4.87463192e-01 -7.17112204e-02 1.59574615e+02] [ 4.85433176e-01 8.73134287e-01 -4.46222753e-02 5.65593594e+01] [ 8.43652421e-02 4.01901891e-03 9.96426793e-01 1.44593855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:56.59, Z:14.46 [[ 8.69452695e-01 -4.88785932e-01 -7.16960587e-02 1.59624199e+02] [ 4.86758388e-01 8.72394951e-01 -4.46466229e-02 5.65893699e+01] [ 8.43699208e-02 3.91946859e-03 9.96426793e-01 1.44609395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357105681 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:56.62, Z:14.46 [[ 8.67317479e-01 -4.92567319e-01 -7.16786366e-02 1.59672775e+02] [ 4.90550302e-01 8.70266961e-01 -4.46745760e-02 5.66218872e+01] [ 8.43847854e-02 3.58506376e-03 9.96426794e-01 1.44632773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417105681 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:56.65, Z:14.47 [[ 8.64088509e-01 -4.98212255e-01 -7.16630787e-02 1.59725728e+02] [ 4.96212448e-01 8.67049687e-01 -4.46995188e-02 5.66486282e+01] [ 8.44052980e-02 3.06422879e-03 9.96426794e-01 1.44657786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:159.78, Y:56.68, Z:14.47 [[ 8.58718431e-01 -5.07414284e-01 -7.16477539e-02 1.59775667e+02] [ 5.05444176e-01 8.61699450e-01 -4.47240691e-02 5.66774533e+01] [ 8.44324616e-02 2.19144248e-03 9.96426795e-01 1.44704977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:56.71, Z:14.47 [[ 8.50829293e-01 -5.20536903e-01 -7.16299325e-02 1.59827771e+02] [ 5.18610389e-01 8.53838667e-01 -4.47525937e-02 5.67050448e+01] [ 8.44557827e-02 9.28790427e-04 9.96426795e-01 1.44665247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:56.73, Z:14.47 [[ 8.38067701e-01 -5.40845505e-01 -7.16147266e-02 1.59877449e+02] [ 5.38989834e-01 8.41121268e-01 -4.47769136e-02 5.67338296e+01] [ 8.44540621e-02 -1.07352453e-03 9.96426796e-01 1.44742881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:56.77, Z:14.49 [[ 8.28062619e-01 -5.56045053e-01 -7.15974721e-02 1.59926196e+02] [ 5.54243018e-01 8.31148143e-01 -4.48044863e-02 5.67650621e+01] [ 8.44214189e-02 -2.58147869e-03 9.96426796e-01 1.44858597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:56.80, Z:14.50 [[ 8.28108106e-01 -5.55979240e-01 -7.15824657e-02 1.59972633e+02] [ 5.54174891e-01 8.31192277e-01 -4.48284487e-02 5.68016796e+01] [ 8.44224795e-02 -2.54640341e-03 9.96426797e-01 1.45024603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777105681 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:56.84, Z:14.51 [[ 8.31605041e-01 -5.50735248e-01 -7.15803195e-02 1.60015420e+02] [ 5.48911151e-01 8.34677574e-01 -4.48318755e-02 5.68422977e+01] [ 8.44369814e-02 -2.00882185e-03 9.96426797e-01 1.45112195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:56.88, Z:14.51 [[ 8.33040068e-01 -5.48564170e-01 -7.15653313e-02 1.60059644e+02] [ 5.46730011e-01 8.36106604e-01 -4.48557886e-02 5.68834903e+01] [ 8.44425245e-02 -1.76024517e-03 9.96426797e-01 1.45071419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897105681 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:56.93, Z:14.52 [[ 8.31536410e-01 -5.50842779e-01 -7.15502113e-02 1.60098904e+02] [ 5.49014950e-01 8.34606722e-01 -4.48798938e-02 5.69286266e+01] [ 8.44380527e-02 -1.96286986e-03 9.96426797e-01 1.45151676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957105681 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:56.98, Z:14.51 [[ 8.33894953e-01 -5.47267966e-01 -7.15330799e-02 1.60136998e+02] [ 5.45424633e-01 8.36955982e-01 -4.49071826e-02 5.69798219e+01] [ 8.44463016e-02 -1.56803092e-03 9.96426798e-01 1.45118100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017105681 meters Centerline goodness : 0.997807 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:57.03, Z:14.52 [[ 8.38686690e-01 -5.39897962e-01 -7.15180209e-02 1.60175373e+02] [ 5.38025681e-01 8.41730098e-01 -4.49311526e-02 5.70294852e+01] [ 8.44571084e-02 -7.95372279e-04 9.96426798e-01 1.45165071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077105681 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:57.08, Z:14.52 [[ 8.48562217e-01 -5.24241815e-01 -7.15030312e-02 1.60214611e+02] [ 5.22311372e-01 8.51569069e-01 -4.49549943e-02 5.70777362e+01] [ 8.44570575e-02 8.00263257e-04 9.96426799e-01 1.45209798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137105681 meters Centerline goodness : 0.995324 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:57.12, Z:14.52 [[ 8.57800059e-01 -5.08987747e-01 -7.14879836e-02 1.60255876e+02] [ 5.07001866e-01 8.60770588e-01 -4.49789106e-02 5.71207765e+01] [ 8.44284680e-02 2.33837111e-03 9.96426799e-01 1.45249154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197105681 meters Centerline goodness : 0.994706 with order 1 Centerline is valid? [True, True] Translation: X:160.30, Y:57.16, Z:14.53 [[ 8.61188958e-01 -5.03235107e-01 -7.14703067e-02 1.60300184e+02] [ 5.01227063e-01 8.64144550e-01 -4.50069813e-02 5.71575153e+01] [ 8.44097691e-02 2.93666343e-03 9.96426800e-01 1.45295937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters Centerline goodness : 0.994397 with order 1 Centerline is valid? [True, True] Translation: X:160.35, Y:57.19, Z:14.54 [[ 8.60182062e-01 -5.04955630e-01 -7.14607013e-02 1.60348983e+02] [ 5.02952233e-01 8.63140806e-01 -4.50222273e-02 5.71885936e+01] [ 8.44148744e-02 2.78599300e-03 9.96426800e-01 1.45400180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters Centerline goodness : 0.994369 with order 1 Centerline is valid? [True, True] Translation: X:160.40, Y:57.22, Z:14.54 [[ 8.60207278e-01 -5.04914869e-01 -7.14451791e-02 1.60398610e+02] [ 5.02909291e-01 8.63164542e-01 -4.50468458e-02 5.72178805e+01] [ 8.44137676e-02 2.81918025e-03 9.96426800e-01 1.45428121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:57.25, Z:14.55 [[ 8.61023970e-01 -5.03521680e-01 -7.14397760e-02 1.60447744e+02] [ 5.01510607e-01 8.63977500e-01 -4.50554130e-02 5.72498681e+01] [ 8.44087363e-02 2.96598516e-03 9.96426800e-01 1.45497481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters Centerline goodness : 0.994781 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:57.28, Z:14.55 [[ 8.57656053e-01 -5.09239162e-01 -7.14252838e-02 1.60497091e+02] [ 5.07245874e-01 8.60621614e-01 -4.50783755e-02 5.72797895e+01] [ 8.44258172e-02 2.43156108e-03 9.96426801e-01 1.45543691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497105681 meters Centerline goodness : 0.995858 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:57.30, Z:14.56 [[ 8.45940864e-01 -5.28474230e-01 -7.14075888e-02 1.60551250e+02] [ 5.26546044e-01 8.48949161e-01 -4.51063884e-02 5.73038135e+01] [ 8.44589765e-02 5.57953745e-04 9.96426801e-01 1.45569644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557105681 meters Centerline goodness : 0.997130 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:57.33, Z:14.56 [[ 8.36945600e-01 -5.42609647e-01 -7.13921151e-02 1.60603175e+02] [ 5.40730179e-01 8.39984571e-01 -4.51308662e-02 5.73315677e+01] [ 8.44567185e-02 -8.31791265e-04 9.96426802e-01 1.45584793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617105681 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:57.36, Z:14.57 [[ 8.36723506e-01 -5.42954126e-01 -7.13764034e-02 1.60652636e+02] [ 5.41073790e-01 8.39761940e-01 -4.51557014e-02 5.73609163e+01] [ 8.44566614e-02 -8.37064282e-04 9.96426802e-01 1.45716419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677105681 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:57.39, Z:14.57 [[ 8.44422741e-01 -5.30901364e-01 -7.13721024e-02 1.60700701e+02] [ 5.28977082e-01 8.47433535e-01 -4.51624983e-02 5.73935724e+01] [ 8.44599450e-02 3.82034172e-04 9.96426802e-01 1.45731941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737105681 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:160.75, Y:57.43, Z:14.58 [[ 8.58305296e-01 -5.08153625e-01 -7.13576350e-02 1.60745694e+02] [ 5.06147701e-01 8.61262323e-01 -4.51853457e-02 5.74323666e+01] [ 8.44187397e-02 2.66531862e-03 9.96426802e-01 1.45786402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797105681 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:160.79, Y:57.47, Z:14.58 [[ 8.64643138e-01 -4.97295096e-01 -7.13430586e-02 1.60793046e+02] [ 4.95250168e-01 8.67573326e-01 -4.52083486e-02 5.74680786e+01] [ 8.43772248e-02 3.75642665e-03 9.96426803e-01 1.45816397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857105681 meters Centerline goodness : 0.994774 with order 1 Centerline is valid? [True, True] Translation: X:160.84, Y:57.50, Z:14.59 [[ 8.63900526e-01 -4.98586270e-01 -7.13275015e-02 1.60842576e+02] [ 4.96543701e-01 8.66832359e-01 -4.52328806e-02 5.74981114e+01] [ 8.43814797e-02 3.65948778e-03 9.96426803e-01 1.45895333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917105681 meters Centerline goodness : 0.995052 with order 1 Centerline is valid? [True, True] Translation: X:160.89, Y:57.53, Z:14.60 [[ 8.58639154e-01 -5.07595695e-01 -7.13120850e-02 1.60892680e+02] [ 5.05581891e-01 8.61590819e-01 -4.52571727e-02 5.75269904e+01] [ 8.44141837e-02 2.80548169e-03 9.96426804e-01 1.46000530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:57.55, Z:14.61 [[ 8.55251362e-01 -5.13285458e-01 -7.12961837e-02 1.60944555e+02] [ 5.11289211e-01 8.58214929e-01 -4.52822090e-02 5.75522505e+01] [ 8.44301486e-02 2.27470138e-03 9.96426804e-01 1.46065936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters Centerline goodness : 0.997014 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:57.58, Z:14.61 [[ 8.50345194e-01 -5.21373853e-01 -7.12906442e-02 1.60997216e+02] [ 5.19405073e-01 8.53327078e-01 -4.52909285e-02 5.75786886e+01] [ 8.44477431e-02 1.48420114e-03 9.96426804e-01 1.46077325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:57.61, Z:14.61 [[ 8.51778961e-01 -5.19030258e-01 -7.12754658e-02 1.61048337e+02] [ 5.17051277e-01 8.54754085e-01 -4.53148027e-02 5.76070260e+01] [ 8.44427493e-02 1.74512503e-03 9.96426804e-01 1.46114824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters Centerline goodness : 0.997364 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:57.64, Z:14.61 [[ 8.58407361e-01 -5.07994908e-01 -7.12599206e-02 1.61098958e+02] [ 5.05975672e-01 8.61355312e-01 -4.53392353e-02 5.76374445e+01] [ 8.44122117e-02 2.86374706e-03 9.96426805e-01 1.46149149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217105681 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:161.15, Y:57.67, Z:14.62 [[ 8.62488930e-01 -5.01035991e-01 -7.12445155e-02 1.61148014e+02] [ 4.98990986e-01 8.65419063e-01 -4.53634295e-02 5.76677852e+01] [ 8.43850726e-02 3.57508475e-03 9.96426805e-01 1.46187151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277105681 meters Centerline goodness : 0.997066 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:57.70, Z:14.62 [[ 8.62893727e-01 -5.00340996e-01 -7.12271308e-02 1.61198575e+02] [ 4.98291385e-01 8.65820639e-01 -4.53907096e-02 5.76963145e+01] [ 8.43807527e-02 3.67549297e-03 9.96426806e-01 1.46249840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337105681 meters Centerline goodness : 0.997096 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:57.72, Z:14.63 [[ 8.59684721e-01 -5.05835615e-01 -7.12215684e-02 1.61252474e+02] [ 5.03803997e-01 8.62624150e-01 -4.53994358e-02 5.77173023e+01] [ 8.44020964e-02 3.14749043e-03 9.96426806e-01 1.46346810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397105681 meters Centerline goodness : 0.996900 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:57.75, Z:14.64 [[ 8.56234405e-01 -5.11655217e-01 -7.12150497e-02 1.61301976e+02] [ 5.09642734e-01 8.59186968e-01 -4.54096589e-02 5.77463364e+01] [ 8.44211315e-02 2.58707962e-03 9.96426806e-01 1.46398864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457105681 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:57.77, Z:14.64 [[ 8.49448974e-01 -5.22845426e-01 -7.11976213e-02 1.61354815e+02] [ 5.20869568e-01 8.52426170e-01 -4.54369684e-02 5.77703026e+01] [ 8.44472268e-02 1.51171195e-03 9.96426806e-01 1.46445228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517105681 meters Centerline goodness : 0.997322 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:57.80, Z:14.65 [[ 8.43964171e-01 -5.31654147e-01 -7.11923204e-02 1.61406915e+02] [ 5.29708668e-01 8.46961306e-01 -4.54452727e-02 5.77962558e+01] [ 8.44583083e-02 6.42992689e-04 9.96426807e-01 1.46482983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577105681 meters Centerline goodness : 0.997239 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:57.83, Z:14.65 [[ 8.37259182e-01 -5.42154178e-01 -7.11752080e-02 1.61455937e+02] [ 5.40244009e-01 8.40278944e-01 -4.54720579e-02 5.78273691e+01] [ 8.44598948e-02 -3.80081696e-04 9.96426807e-01 1.46524291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637105681 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:161.51, Y:57.86, Z:14.66 [[ 8.33189736e-01 -5.48389812e-01 -7.11581244e-02 1.61506885e+02] [ 5.46499959e-01 8.36222253e-01 -4.54987761e-02 5.78572046e+01] [ 8.44550723e-02 -9.78798835e-04 9.96426808e-01 1.46552984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697105681 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:57.89, Z:14.66 [[ 8.32919549e-01 -5.48802090e-01 -7.11427456e-02 1.61554077e+02] [ 5.46911686e-01 8.35951722e-01 -4.55228100e-02 5.78911291e+01] [ 8.44549140e-02 -9.91960571e-04 9.96426808e-01 1.46601665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters Centerline goodness : 0.997197 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:57.93, Z:14.67 [[ 8.39033234e-01 -5.39409952e-01 -7.11346390e-02 1.61596969e+02] [ 5.37484527e-01 8.42043291e-01 -4.55354739e-02 5.79316093e+01] [ 8.44607333e-02 -2.79919057e-05 9.96426808e-01 1.46663634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters Centerline goodness : 0.996472 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:57.97, Z:14.67 [[ 8.46499486e-01 -5.27618181e-01 -7.11173377e-02 1.61639744e+02] [ 5.25648563e-01 8.49480811e-01 -4.55624791e-02 5.79724386e+01] [ 8.44524061e-02 1.18588878e-03 9.96426809e-01 1.46744655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters Centerline goodness : 0.995959 with order 1 Centerline is valid? [True, True] Translation: X:161.68, Y:58.01, Z:14.69 [[ 8.55342050e-01 -5.13161261e-01 -7.11020219e-02 1.61682604e+02] [ 5.11139295e-01 8.58288124e-01 -4.55863676e-02 5.80134505e+01] [ 8.44191789e-02 2.64889974e-03 9.96426809e-01 1.46857130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937105681 meters Centerline goodness : 0.995393 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:58.05, Z:14.69 [[ 8.59393680e-01 -5.06348938e-01 -7.10862561e-02 1.61729118e+02] [ 5.04301600e-01 8.62322178e-01 -4.56109393e-02 5.80466267e+01] [ 8.43943058e-02 3.34884032e-03 9.96426809e-01 1.46924808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997105681 meters Centerline goodness : 0.995099 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:58.08, Z:14.70 [[ 8.60381904e-01 -5.04670465e-01 -7.10682761e-02 1.61777683e+02] [ 5.02615108e-01 8.63304779e-01 -4.56389376e-02 5.80762385e+01] [ 8.43862062e-02 3.54692678e-03 9.96426810e-01 1.46954576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057105681 meters Centerline goodness : 0.995354 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:58.10, Z:14.70 [[ 8.61194139e-01 -5.03284259e-01 -7.10606016e-02 1.61828314e+02] [ 5.01223214e-01 8.64113006e-01 -4.56508837e-02 5.81036102e+01] [ 8.43797612e-02 3.69705035e-03 9.96426810e-01 1.47003655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117105681 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:161.88, Y:58.13, Z:14.70 [[ 8.61859601e-01 -5.02146260e-01 -7.10433811e-02 1.61881387e+02] [ 5.00079159e-01 8.64774182e-01 -4.56776673e-02 5.81287378e+01] [ 8.43733515e-02 3.84042182e-03 9.96426811e-01 1.47006354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177105681 meters Centerline goodness : 0.996735 with order 1 Centerline is valid? [True, True] Translation: X:161.94, Y:58.16, Z:14.70 [[ 8.58924573e-01 -5.07152678e-01 -7.10263340e-02 1.61935205e+02] [ 5.05100386e-01 8.61849598e-01 -4.57041593e-02 5.81550821e+01] [ 8.43930042e-02 3.38099682e-03 9.96426811e-01 1.46967039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237105681 meters Centerline goodness : 0.996695 with order 1 Centerline is valid? [True, True] Translation: X:161.99, Y:58.18, Z:14.70 [[ 8.57666031e-01 -5.09280295e-01 -7.10109845e-02 1.61986300e+02] [ 5.07233290e-01 8.60594759e-01 -4.57279956e-02 5.81807215e+01] [ 8.44000482e-02 3.20021317e-03 9.96426811e-01 1.47005393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297105681 meters Centerline goodness : 0.996550 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:58.21, Z:14.71 [[ 8.58917804e-01 -5.07167939e-01 -7.09992028e-02 1.62037558e+02] [ 5.05112225e-01 8.61840425e-01 -4.57462810e-02 5.82073966e+01] [ 8.43910302e-02 3.42972994e-03 9.96426812e-01 1.47127210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357105681 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:58.23, Z:14.72 [[ 8.60085246e-01 -5.05187761e-01 -7.09837782e-02 1.62090725e+02] [ 5.03123349e-01 8.63001729e-01 -4.57702027e-02 5.82315378e+01] [ 8.43816695e-02 3.65267982e-03 9.96426812e-01 1.47197620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417105681 meters Centerline goodness : 0.997121 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:58.25, Z:14.73 [[ 8.56299456e-01 -5.11580989e-01 -7.09657231e-02 1.62144998e+02] [ 5.09536046e-01 8.59229622e-01 -4.57981798e-02 5.82538309e+01] [ 8.44053295e-02 3.05736242e-03 9.96426813e-01 1.47321010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters Centerline goodness : 0.997581 with order 1 Centerline is valid? [True, True] Translation: X:162.20, Y:58.27, Z:14.74 [[ 8.47161536e-01 -5.26577058e-01 -7.09502289e-02 1.62200195e+02] [ 5.24582010e-01 8.50125899e-01 -4.58221708e-02 5.82716085e+01] [ 8.44455309e-02 1.59956690e-03 9.96426813e-01 1.47416285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:162.25, Y:58.30, Z:14.74 [[ 8.40237394e-01 -5.37558237e-01 -7.09384421e-02 1.62253929e+02] [ 5.35600400e-01 8.43226464e-01 -4.58404110e-02 5.82964465e+01] [ 8.44590622e-02 5.22169603e-04 9.96426813e-01 1.47417624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters Centerline goodness : 0.998209 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:58.32, Z:14.74 [[ 8.37866169e-01 -5.41248979e-01 -7.09212660e-02 1.62305212e+02] [ 5.39302060e-01 8.40862360e-01 -4.58669694e-02 5.83240923e+01] [ 8.44604735e-02 1.82397063e-04 9.96426814e-01 1.47429036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters Centerline goodness : 0.998004 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:58.36, Z:14.75 [[ 8.37679837e-01 -5.41539514e-01 -7.09044882e-02 1.62351910e+02] [ 5.39591439e-01 8.40675277e-01 -4.58928912e-02 5.83573905e+01] [ 8.44604642e-02 1.84094756e-04 9.96426814e-01 1.47476216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717105681 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:58.39, Z:14.75 [[ 8.49872115e-01 -5.22199920e-01 -7.08846407e-02 1.62397225e+02] [ 5.20181157e-01 8.52820376e-01 -4.59235265e-02 5.83939239e+01] [ 8.44331279e-02 2.15627019e-03 9.96426815e-01 1.47465914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777105681 meters Centerline goodness : 0.997672 with order 1 Centerline is valid? [True, True] Translation: X:162.44, Y:58.43, Z:14.75 [[ 8.56820709e-01 -5.10719399e-01 -7.08799557e-02 1.62442705e+02] [ 5.08660559e-01 8.59741124e-01 -4.59307564e-02 5.84313225e+01] [ 8.43961412e-02 3.30058532e-03 9.96426815e-01 1.47532483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837105681 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:58.46, Z:14.76 [[ 8.61242091e-01 -5.03229975e-01 -7.08636205e-02 1.62493166e+02] [ 5.01143686e-01 8.64142961e-01 -4.59559453e-02 5.84617900e+01] [ 8.43627080e-02 4.06633846e-03 9.96426815e-01 1.47583098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897105681 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:162.54, Y:58.49, Z:14.77 [[ 8.62810099e-01 -5.00538816e-01 -7.08493217e-02 1.62541628e+02] [ 4.98441678e-01 8.65703136e-01 -4.59779789e-02 5.84908300e+01] [ 8.43482431e-02 4.35600977e-03 9.96426816e-01 1.47707643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957105681 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:58.52, Z:14.78 [[ 8.66267165e-01 -4.94532615e-01 -7.08427273e-02 1.62593147e+02] [ 4.92414602e-01 8.69144954e-01 -4.59881372e-02 5.85180233e+01] [ 8.43152327e-02 4.95401983e-03 9.96426816e-01 1.47771585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017105681 meters Centerline goodness : 0.998443 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:58.55, Z:14.78 [[ 8.67284646e-01 -4.92748379e-01 -7.08263898e-02 1.62644512e+02] [ 4.90622404e-01 8.70156557e-01 -4.60132850e-02 5.85456070e+01] [ 8.43030191e-02 5.15760191e-03 9.96426816e-01 1.47821590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077105681 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:162.70, Y:58.57, Z:14.78 [[ 8.66324301e-01 -4.94437471e-01 -7.08081424e-02 1.62700241e+02] [ 4.92314814e-01 8.69198665e-01 -4.60413482e-02 5.85696039e+01] [ 8.43109106e-02 5.02684135e-03 9.96426817e-01 1.47790900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137105681 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:58.59, Z:14.79 [[ 8.58622247e-01 -5.07696939e-01 -7.07930380e-02 1.62754358e+02] [ 5.05616812e-01 8.61527536e-01 -4.60645611e-02 5.85901817e+01] [ 8.43769883e-02 3.75790676e-03 9.96426817e-01 1.47923966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197105681 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:58.62, Z:14.80 [[ 8.50546191e-01 -5.21115978e-01 -7.07765166e-02 1.62806205e+02] [ 5.19079615e-01 8.53482321e-01 -4.60899317e-02 5.86168299e+01] [ 8.44247054e-02 2.46296887e-03 9.96426818e-01 1.47961871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:58.64, Z:14.79 [[ 8.45593745e-01 -5.29116852e-01 -7.07571596e-02 1.62858219e+02] [ 5.27105796e-01 8.48547264e-01 -4.61196295e-02 5.86443372e+01] [ 8.44434674e-02 1.70196128e-03 9.96426818e-01 1.47929446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:162.91, Y:58.68, Z:14.80 [[ 8.42528899e-01 -5.33984152e-01 -7.07529525e-02 1.62907201e+02] [ 5.31989618e-01 8.45493602e-01 -4.61260828e-02 5.86758293e+01] [ 8.44517658e-02 1.22272159e-03 9.96426818e-01 1.48029189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:58.71, Z:14.81 [[ 8.46501966e-01 -5.27665540e-01 -7.07354172e-02 1.62953518e+02] [ 5.25646637e-01 8.49450127e-01 -4.61529579e-02 5.87106462e+01] [ 8.44395346e-02 1.88673541e-03 9.96426819e-01 1.48134829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:58.75, Z:14.83 [[ 8.54576447e-01 -5.14488214e-01 -7.07175582e-02 1.62998420e+02] [ 5.12421621e-01 8.57491377e-01 -4.61803062e-02 5.87453985e+01] [ 8.43989196e-02 3.22739621e-03 9.96426819e-01 1.48287220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497105681 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:58.78, Z:14.83 [[ 8.57851445e-01 -5.09009546e-01 -7.07119506e-02 1.63045465e+02] [ 5.06923639e-01 8.60752584e-01 -4.61888910e-02 5.87794229e+01] [ 8.43760807e-02 3.77764758e-03 9.96426819e-01 1.48284597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557105681 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:163.10, Y:58.81, Z:14.82 [[ 8.59244881e-01 -5.06656269e-01 -7.06941318e-02 1.63096291e+02] [ 5.04560181e-01 8.62138673e-01 -4.62161475e-02 5.88090264e+01] [ 8.43638458e-02 4.04154422e-03 9.96426820e-01 1.48202888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617105681 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:163.15, Y:58.84, Z:14.83 [[ 8.53628820e-01 -5.16062818e-01 -7.06895000e-02 1.63146068e+02] [ 5.13998054e-01 8.56545045e-01 -4.62232310e-02 5.88393788e+01] [ 8.44028317e-02 3.12321670e-03 9.96426820e-01 1.48318997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677105681 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:58.87, Z:14.84 [[ 8.47609336e-01 -5.25893253e-01 -7.06731870e-02 1.63196515e+02] [ 5.23860252e-01 8.50547791e-01 -4.62481594e-02 5.88669510e+01] [ 8.44325181e-02 2.17749820e-03 9.96426820e-01 1.48373722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:58.89, Z:14.84 [[ 8.45626932e-01 -5.29077502e-01 -7.06547134e-02 1.63248108e+02] [ 5.27053211e-01 8.48571394e-01 -4.62763649e-02 5.88940485e+01] [ 8.44393522e-02 1.89374686e-03 9.96426821e-01 1.48414512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:163.30, Y:58.92, Z:14.83 [[ 8.50790879e-01 -5.20735424e-01 -7.06363837e-02 1.63299940e+02] [ 5.18679955e-01 8.53713660e-01 -4.63043266e-02 5.89235519e+01] [ 8.44155488e-02 2.75762242e-03 9.96426822e-01 1.48309057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:58.95, Z:14.84 [[ 8.48191538e-01 -5.24960435e-01 -7.06233393e-02 1.63351966e+02] [ 5.22917874e-01 8.51123354e-01 -4.63242134e-02 5.89518103e+01] [ 8.44275527e-02 2.36159940e-03 9.96426822e-01 1.48435204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:58.98, Z:14.86 [[ 8.37956247e-01 -5.41148786e-01 -7.06209535e-02 1.63400418e+02] [ 5.39162585e-01 8.40926535e-01 -4.63278502e-02 5.89821517e+01] [ 8.44572937e-02 7.44535628e-04 9.96426822e-01 1.48557218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.45, Y:59.01, Z:14.87 [[ 8.27673550e-01 -5.56749472e-01 -7.06152934e-02 1.63449103e+02] [ 5.54818520e-01 8.30680047e-01 -4.63364761e-02 5.90131655e+01] [ 8.44565239e-02 -8.27196969e-04 9.96426822e-01 1.48666676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:59.05, Z:14.87 [[ 8.23286710e-01 -5.63218121e-01 -7.05998633e-02 1.63492636e+02] [ 5.61308773e-01 8.26306973e-01 -4.63599741e-02 5.90521629e+01] [ 8.44479369e-02 -1.46077210e-03 9.96426822e-01 1.48706955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:59.09, Z:14.87 [[ 8.23258016e-01 -5.63262225e-01 -7.05826063e-02 1.63537113e+02] [ 5.61350788e-01 8.26276957e-01 -4.63862330e-02 5.90899874e+01] [ 8.44483939e-02 -1.43376352e-03 9.96426823e-01 1.48726258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:59.13, Z:14.87 [[ 8.24163641e-01 -5.61938413e-01 -7.05656561e-02 1.63583025e+02] [ 5.60019921e-01 8.27178103e-01 -4.64120044e-02 5.91286241e+01] [ 8.44510537e-02 -1.26708660e-03 9.96426823e-01 1.48710919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:163.63, Y:59.17, Z:14.88 [[ 8.27526757e-01 -5.56975707e-01 -7.05515958e-02 1.63627237e+02] [ 5.55037314e-01 8.30528460e-01 -4.64333679e-02 5.91670000e+01] [ 8.44573661e-02 -7.33913908e-04 9.96426824e-01 1.48788962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277105681 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:59.21, Z:14.89 [[ 8.35298445e-01 -5.45253332e-01 -7.05358894e-02 1.63667714e+02] [ 5.43270797e-01 8.38271178e-01 -4.64572149e-02 5.92100454e+01] [ 8.44591544e-02 4.85550480e-04 9.96426824e-01 1.48921605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337105681 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:59.25, Z:14.89 [[ 8.47416353e-01 -5.26223424e-01 -7.05296610e-02 1.63707774e+02] [ 5.24173381e-01 8.50342940e-01 -4.64666688e-02 5.92537140e+01] [ 8.44262488e-02 2.40684407e-03 9.96426824e-01 1.48946239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397105681 meters Centerline goodness : 0.998107 with order 1 Centerline is valid? [True, True] Translation: X:163.75, Y:59.30, Z:14.90 [[ 8.50707351e-01 -5.20888799e-01 -7.05114278e-02 1.63749646e+02] [ 5.18818121e-01 8.53619374e-01 -4.64943206e-02 5.92959554e+01] [ 8.44082917e-02 2.97045386e-03 9.96426825e-01 1.48963397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457105681 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:59.33, Z:14.90 [[ 8.53576950e-01 -5.16175450e-01 -7.04932363e-02 1.63795030e+02] [ 5.14086425e-01 8.56475838e-01 -4.65218857e-02 5.93323865e+01] [ 8.43892089e-02 3.47039341e-03 9.96426825e-01 1.48997330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517105681 meters Centerline goodness : 0.997326 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:59.37, Z:14.90 [[ 8.57225242e-01 -5.10096232e-01 -7.04749535e-02 1.63842498e+02] [ 5.07984391e-01 8.60107550e-01 -4.65495654e-02 5.93662030e+01] [ 8.43607976e-02 4.10328615e-03 9.96426826e-01 1.49031373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577105681 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:59.39, Z:14.91 [[ 8.58714069e-01 -5.07588466e-01 -7.04563403e-02 1.63894516e+02] [ 5.05465907e-01 8.61588494e-01 -4.65777211e-02 5.93918228e+01] [ 8.43466861e-02 4.38366640e-03 9.96426826e-01 1.49070552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637105681 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:59.41, Z:14.91 [[ 8.54091222e-01 -5.15331648e-01 -7.04377577e-02 1.63949117e+02] [ 5.13232854e-01 8.56983043e-01 -4.66058061e-02 5.94130198e+01] [ 8.43814108e-02 3.65463843e-03 9.96426827e-01 1.49121744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:59.43, Z:14.91 [[ 8.44517596e-01 -5.30877733e-01 -7.04191926e-02 1.64009540e+02] [ 5.28829884e-01 8.47445714e-01 -4.66338402e-02 5.94264886e+01] [ 8.44333104e-02 2.14332515e-03 9.96426827e-01 1.49144096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:59.45, Z:14.92 [[ 8.36048158e-01 -5.44120543e-01 -7.04010786e-02 1.64065262e+02] [ 5.42116791e-01 8.39006627e-01 -4.66611702e-02 5.94491772e+01] [ 8.44562728e-02 8.45378573e-04 9.96426828e-01 1.49193687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:59.48, Z:14.92 [[ 8.35356134e-01 -5.45184432e-01 -7.03851165e-02 1.64118501e+02] [ 5.43182420e-01 8.38315780e-01 -4.66852356e-02 5.94756750e+01] [ 8.44570175e-02 7.66840038e-04 9.96426828e-01 1.49235982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:164.17, Y:59.50, Z:14.93 [[ 8.36717027e-01 -5.43095517e-01 -7.03695703e-02 1.64169239e+02] [ 5.41084147e-01 8.39670321e-01 -4.67086570e-02 5.95048491e+01] [ 8.44545019e-02 1.00606968e-03 9.96426829e-01 1.49318217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937105681 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:164.22, Y:59.54, Z:14.94 [[ 8.44624642e-01 -5.30716061e-01 -7.03539361e-02 1.64216691e+02] [ 5.28659463e-01 8.47546620e-01 -4.67321939e-02 5.95368756e+01] [ 8.44297666e-02 2.27788841e-03 9.96426829e-01 1.49447655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:59.57, Z:14.95 [[ 8.53174163e-01 -5.16860656e-01 -7.03484840e-02 1.64264996e+02] [ 5.14755969e-01 8.56061696e-01 -4.67403997e-02 5.95678928e+01] [ 8.43809162e-02 3.66539931e-03 9.96426829e-01 1.49513275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:164.32, Y:59.60, Z:14.95 [[ 8.58069967e-01 -5.08693989e-01 -7.03303528e-02 1.64315419e+02] [ 5.06559612e-01 8.60935622e-01 -4.67676660e-02 5.95970933e+01] [ 8.43403366e-02 4.50341339e-03 9.96426830e-01 1.49481362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:164.37, Y:59.62, Z:14.95 [[ 8.55266014e-01 -5.13396792e-01 -7.03120078e-02 1.64366903e+02] [ 5.11275920e-01 8.58141678e-01 -4.67952303e-02 5.96232608e+01] [ 8.43621855e-02 4.07353357e-03 9.96426830e-01 1.49490617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:59.65, Z:14.95 [[ 8.48604396e-01 -5.24335679e-01 -7.03041677e-02 1.64419628e+02] [ 5.22250929e-01 8.51506354e-01 -4.68070061e-02 5.96479379e+01] [ 8.44070288e-02 3.00421422e-03 9.96426830e-01 1.49514712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:59.68, Z:14.95 [[ 8.41835300e-01 -5.35138407e-01 -7.02866456e-02 1.64470205e+02] [ 5.33088722e-01 8.44762130e-01 -4.68333031e-02 5.96779641e+01] [ 8.44377956e-02 1.95690971e-03 9.96426831e-01 1.49512611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:59.71, Z:14.96 [[ 8.36639308e-01 -5.43227929e-01 -7.02715159e-02 1.64520961e+02] [ 5.41204645e-01 8.39584450e-01 -4.68559937e-02 5.97062910e+01] [ 8.44523564e-02 1.17029537e-03 9.96426831e-01 1.49626291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:164.57, Y:59.74, Z:14.97 [[ 8.32334284e-01 -5.49803266e-01 -7.02567294e-02 1.64568441e+02] [ 5.47801381e-01 8.35294012e-01 -4.68781544e-02 5.97384747e+01] [ 8.44587877e-02 5.31561742e-04 9.96426832e-01 1.49663999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:59.77, Z:14.97 [[ 8.30801619e-01 -5.52118878e-01 -7.02382785e-02 1.64614654e+02] [ 5.50122905e-01 8.33765337e-01 -4.69057834e-02 5.97731154e+01] [ 8.44598104e-02 3.29714896e-04 9.96426832e-01 1.49710849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:59.81, Z:14.98 [[ 8.32224427e-01 -5.49974214e-01 -7.02201379e-02 1.64659375e+02] [ 5.47968314e-01 8.35181434e-01 -4.69329252e-02 5.98099683e+01] [ 8.44584541e-02 5.80316192e-04 9.96426833e-01 1.49813554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:59.85, Z:14.99 [[ 8.38276413e-01 -5.40706932e-01 -7.02044763e-02 1.64703294e+02] [ 5.38666388e-01 8.41209620e-01 -4.69563410e-02 5.98479259e+01] [ 8.44462999e-02 1.54560146e-03 9.96426833e-01 1.49910408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:164.75, Y:59.89, Z:15.00 [[ 8.43846478e-01 -5.31974689e-01 -7.01858423e-02 1.64745197e+02] [ 5.29901489e-01 8.46756694e-01 -4.69841768e-02 5.98870804e+01] [ 8.44247246e-02 2.45584973e-03 9.96426834e-01 1.50035097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:164.79, Y:59.92, Z:15.01 [[ 8.48774501e-01 -5.24078625e-01 -7.01672389e-02 1.64790234e+02] [ 5.21976073e-01 8.51663582e-01 -4.70119432e-02 5.99232704e+01] [ 8.43968366e-02 3.27691883e-03 9.96426834e-01 1.50056935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717105681 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:164.84, Y:59.96, Z:15.00 [[ 8.54385337e-01 -5.14883314e-01 -7.01489071e-02 1.64839485e+02] [ 5.12747453e-01 8.57249879e-01 -4.70392813e-02 5.99576470e+01] [ 8.43548832e-02 4.22099873e-03 9.96426835e-01 1.49973525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777105681 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:59.99, Z:15.00 [[ 8.55239884e-01 -5.13464793e-01 -7.01330758e-02 1.64890177e+02] [ 5.11322253e-01 8.58099435e-01 -4.70628730e-02 5.99867708e+01] [ 8.43462811e-02 4.38944369e-03 9.96426835e-01 1.49971030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837105681 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:60.02, Z:15.00 [[ 8.54051776e-01 -5.15441101e-01 -7.01144413e-02 1.64939282e+02] [ 5.13302910e-01 8.56914579e-01 -4.70906186e-02 6.00150255e+01] [ 8.43545273e-02 4.22787972e-03 9.96426836e-01 1.50019797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:60.04, Z:15.00 [[ 8.51605223e-01 -5.19474371e-01 -7.01065038e-02 1.64996352e+02] [ 5.17348773e-01 8.54477389e-01 -4.71024326e-02 6.00355456e+01] [ 8.43729289e-02 3.84316386e-03 9.96426836e-01 1.50006536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.05, Y:60.06, Z:15.02 [[ 8.45577097e-01 -5.29232137e-01 -7.00907904e-02 1.65046421e+02] [ 5.27137771e-01 8.48472115e-01 -4.71258034e-02 6.00640892e+01] [ 8.44105708e-02 2.90099704e-03 9.96426836e-01 1.50158325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:60.09, Z:15.02 [[ 8.43211454e-01 -5.32995264e-01 -7.00749010e-02 1.65095401e+02] [ 5.30911860e-01 8.46114371e-01 -4.71494188e-02 6.00938301e+01] [ 8.44217977e-02 2.55333398e-03 9.96426837e-01 1.50210036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:60.12, Z:15.02 [[ 8.37140895e-01 -5.42482360e-01 -7.00571993e-02 1.65150197e+02] [ 5.40429668e-01 8.40065609e-01 -4.71757064e-02 6.01180776e+01] [ 8.44446323e-02 1.63172417e-03 9.96426837e-01 1.50188336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:165.20, Y:60.15, Z:15.02 [[ 8.30226428e-01 -5.53008359e-01 -7.00416541e-02 1.65200214e+02] [ 5.50990810e-01 8.33175493e-01 -4.71987750e-02 6.01492548e+01] [ 8.44583069e-02 5.93362655e-04 9.96426837e-01 1.50242208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:165.25, Y:60.18, Z:15.05 [[ 8.26384665e-01 -5.58734988e-01 -7.00257012e-02 1.65246567e+02] [ 5.56735871e-01 8.29346256e-01 -4.72224315e-02 6.01815668e+01] [ 8.44603778e-02 3.80735421e-05 9.96426838e-01 1.50453945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:60.22, Z:15.06 [[ 8.28444223e-01 -5.55677393e-01 -7.00200268e-02 1.65292333e+02] [ 5.53666635e-01 8.31397922e-01 -4.72308438e-02 6.02150218e+01] [ 8.44596170e-02 3.60367087e-04 9.96426838e-01 1.50589655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:60.25, Z:15.06 [[ 8.35149828e-01 -5.45549699e-01 -7.00020819e-02 1.65338058e+02] [ 5.43500900e-01 8.38077268e-01 -4.72574256e-02 6.02507925e+01] [ 8.44484279e-02 1.42083632e-03 9.96426838e-01 1.50647717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:60.29, Z:15.06 [[ 8.41477859e-01 -5.35738265e-01 -6.99966008e-02 1.65383992e+02] [ 5.33654671e-01 8.44380637e-01 -4.72655427e-02 6.02892212e+01] [ 8.44257342e-02 2.41889464e-03 9.96426838e-01 1.50616511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:165.43, Y:60.32, Z:15.07 [[ 8.47137811e-01 -5.26744948e-01 -6.99806399e-02 1.65430493e+02] [ 5.24628607e-01 8.50016800e-01 -4.72891624e-02 6.03231431e+01] [ 8.43940470e-02 3.34659190e-03 9.96426839e-01 1.50656334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:60.36, Z:15.05 [[ 8.54357674e-01 -5.14954562e-01 -6.99625897e-02 1.65477744e+02] [ 5.12796350e-01 8.57205409e-01 -4.73158521e-02 6.03597009e+01] [ 8.43378242e-02 4.54810072e-03 9.96426839e-01 1.50542683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:165.53, Y:60.39, Z:15.06 [[ 8.56313573e-01 -5.11697687e-01 -6.99467139e-02 1.65527250e+02] [ 5.09526740e-01 8.59151611e-01 -4.73393095e-02 6.03909747e+01] [ 8.43182471e-02 4.89757218e-03 9.96426840e-01 1.50557912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:60.42, Z:15.07 [[ 8.50573921e-01 -5.21184950e-01 -6.99303372e-02 1.65578362e+02] [ 5.19043703e-01 8.53434434e-01 -4.73634892e-02 6.04185653e+01] [ 8.43660955e-02 3.98924753e-03 9.96426840e-01 1.50681193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:165.63, Y:60.45, Z:15.08 [[ 8.42693844e-01 -5.33833443e-01 -6.99209586e-02 1.65628870e+02] [ 5.31734022e-01 8.45585193e-01 -4.73773304e-02 6.04456919e+01] [ 8.44157307e-02 2.74523212e-03 9.96426840e-01 1.50754715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:60.47, Z:15.07 [[ 8.34465421e-01 -5.46608016e-01 -6.99080624e-02 1.65683674e+02] [ 5.44551289e-01 8.37387294e-01 -4.73963519e-02 6.04702166e+01] [ 8.44473491e-02 1.48209130e-03 9.96426841e-01 1.50737346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.73, Y:60.50, Z:15.08 [[ 8.26439739e-01 -5.58670274e-01 -6.98919389e-02 1.65730862e+02] [ 5.56654191e-01 8.29389802e-01 -4.74201162e-02 6.05038653e+01] [ 8.44598707e-02 2.84227669e-04 9.96426841e-01 1.50823282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:60.54, Z:15.09 [[ 8.22086660e-01 -5.65058342e-01 -6.98755600e-02 1.65776877e+02] [ 5.63063131e-01 8.25050880e-01 -4.74442391e-02 6.05414512e+01] [ 8.44596553e-02 -3.41075580e-04 9.96426841e-01 1.50853277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.82, Y:60.58, Z:15.09 [[ 8.14256173e-01 -5.76286840e-01 -6.98595926e-02 1.65822180e+02] [ 5.74330481e-01 8.17246176e-01 -4.74677388e-02 6.05771571e+01] [ 8.44475181e-02 -1.47159407e-03 9.96426842e-01 1.50945557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:60.62, Z:15.10 [[ 8.05951897e-01 -5.87845502e-01 -6.98513081e-02 1.65860719e+02] [ 5.85930947e-01 8.08968839e-01 -4.74799268e-02 6.06224581e+01] [ 8.44183930e-02 -2.66150600e-03 9.96426842e-01 1.51034506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:60.67, Z:15.11 [[ 7.98010411e-01 -5.98583834e-01 -6.98339207e-02 1.65901421e+02] [ 5.96707615e-01 8.01051341e-01 -4.75054865e-02 6.06655621e+01] [ 8.43765722e-02 -3.76055939e-03 9.96426842e-01 1.51097084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:165.94, Y:60.72, Z:15.12 [[ 7.96915868e-01 -6.00042488e-01 -6.98148464e-02 1.65935468e+02] [ 5.98169386e-01 7.99958718e-01 -4.75335021e-02 6.07168361e+01] [ 8.43711159e-02 -3.88090178e-03 9.96426843e-01 1.51189707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:60.77, Z:15.12 [[ 8.03137392e-01 -5.91691404e-01 -6.97969366e-02 1.65971160e+02] [ 5.89784362e-01 8.06159087e-01 -4.75597859e-02 6.07679490e+01] [ 8.44081511e-02 -2.96809935e-03 9.96426843e-01 1.51194592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217105681 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:166.00, Y:60.83, Z:15.12 [[ 8.08494846e-01 -5.84350261e-01 -6.97915227e-02 1.66003016e+02] [ 5.82415086e-01 8.11498601e-01 -4.75677292e-02 6.08258240e+01] [ 8.44319380e-02 -2.18937171e-03 9.96426844e-01 1.51212587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277105681 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:166.04, Y:60.88, Z:15.12 [[ 8.19928691e-01 -5.68197312e-01 -6.97764774e-02 1.66038460e+02] [ 5.66201055e-01 8.22892202e-01 -4.75897888e-02 6.08776567e+01] [ 8.44589092e-02 -4.87281908e-04 9.96426844e-01 1.51186263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337105681 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:60.93, Z:15.12 [[ 8.30403911e-01 -5.52777677e-01 -6.97580447e-02 1.66074886e+02] [ 5.50724127e-01 8.33328013e-01 -4.76167925e-02 6.09280781e+01] [ 8.44528327e-02 1.12373245e-03 9.96426844e-01 1.51163456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397105681 meters Centerline goodness : 0.996531 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:60.97, Z:15.12 [[ 8.32258258e-01 -5.49982544e-01 -6.97523716e-02 1.66114725e+02] [ 5.47918478e-01 8.35174946e-01 -4.76251014e-02 6.09736963e+01] [ 8.44484077e-02 1.41777055e-03 9.96426844e-01 1.51249569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457105681 meters Centerline goodness : 0.996150 with order 1 Centerline is valid? [True, True] Translation: X:166.16, Y:61.01, Z:15.12 [[ 8.31629555e-01 -5.50934716e-01 -6.97368039e-02 1.66158989e+02] [ 5.48872080e-01 8.34547254e-01 -4.76478861e-02 6.10128916e+01] [ 8.44495328e-02 1.34880572e-03 9.96426845e-01 1.51229466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517105681 meters Centerline goodness : 0.996218 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:61.05, Z:15.13 [[ 8.30675696e-01 -5.52373801e-01 -6.97213887e-02 1.66203708e+02] [ 5.50314327e-01 8.33595628e-01 -4.76704321e-02 6.10499586e+01] [ 8.44513425e-02 1.22999033e-03 9.96426845e-01 1.51298766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577105681 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:166.25, Y:61.08, Z:15.14 [[ 8.31337217e-01 -5.51380052e-01 -6.97027183e-02 1.66251719e+02] [ 5.49314801e-01 8.34253065e-01 -4.76977159e-02 6.10818989e+01] [ 8.44492755e-02 1.36415156e-03 9.96426846e-01 1.51393474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637105681 meters Centerline goodness : 0.995801 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:61.11, Z:15.14 [[ 8.29486527e-01 -5.54161380e-01 -6.96940985e-02 1.66300556e+02] [ 5.52104848e-01 8.32408531e-01 -4.77103076e-02 6.11120050e+01] [ 8.44531721e-02 1.09660767e-03 9.96426846e-01 1.51423063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697105681 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:61.14, Z:15.14 [[ 8.28871099e-01 -5.55082453e-01 -6.96862395e-02 1.66349928e+02] [ 5.53028205e-01 8.31794708e-01 -4.77217838e-02 6.11438454e+01] [ 8.44541701e-02 1.01675151e-03 9.96426846e-01 1.51395455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters Centerline goodness : 0.996288 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:61.17, Z:15.14 [[ 8.30425744e-01 -5.52755936e-01 -6.96703579e-02 1.66399077e+02] [ 5.50691553e-01 8.33342206e-01 -4.77449586e-02 6.11730068e+01] [ 8.44505590e-02 1.28176522e-03 9.96426846e-01 1.51428272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters Centerline goodness : 0.996701 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:61.20, Z:15.15 [[ 8.34421919e-01 -5.46705757e-01 -6.96625853e-02 1.66447062e+02] [ 5.44619286e-01 8.37322620e-01 -4.77562966e-02 6.12047743e+01] [ 8.44387007e-02 1.90931321e-03 9.96426846e-01 1.51523723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters Centerline goodness : 0.995962 with order 1 Centerline is valid? [True, True] Translation: X:166.50, Y:61.24, Z:15.16 [[ 8.39433899e-01 -5.38980800e-01 -6.96450071e-02 1.66495749e+02] [ 5.36865521e-01 8.42313659e-01 -4.77819180e-02 6.12353461e+01] [ 8.44164771e-02 2.71975867e-03 9.96426847e-01 1.51585965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937105681 meters Centerline goodness : 0.996495 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:61.27, Z:15.16 [[ 8.40989883e-01 -5.36550753e-01 -6.96369531e-02 1.66544912e+02] [ 5.34426185e-01 8.43862797e-01 -4.77936528e-02 6.12653609e+01] [ 8.44077545e-02 2.97816734e-03 9.96426847e-01 1.51606900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997105681 meters Centerline goodness : 0.996293 with order 1 Centerline is valid? [True, True] Translation: X:166.59, Y:61.30, Z:15.17 [[ 8.40674202e-01 -5.37047437e-01 -6.96199407e-02 1.66594276e+02] [ 5.34922518e-01 8.43546856e-01 -4.78184217e-02 6.12963903e+01] [ 8.44084429e-02 2.95843957e-03 9.96426848e-01 1.51667108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057105681 meters Centerline goodness : 0.996674 with order 1 Centerline is valid? [True, True] Translation: X:166.64, Y:61.33, Z:15.17 [[ 8.39007161e-01 -5.39649986e-01 -6.96051469e-02 1.66643621e+02] [ 5.37532196e-01 8.41885074e-01 -4.78399461e-02 6.13267012e+01] [ 8.44163605e-02 2.72304991e-03 9.96426848e-01 1.51722471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117105681 meters Centerline goodness : 0.997300 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:61.35, Z:15.17 [[ 8.34397893e-01 -5.46752149e-01 -6.95862275e-02 1.66696183e+02] [ 5.44656572e-01 8.37292020e-01 -4.78674498e-02 6.13537139e+01] [ 8.44356241e-02 2.03990317e-03 9.96426848e-01 1.51729957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177105681 meters Centerline goodness : 0.996849 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:61.38, Z:15.18 [[ 8.27217136e-01 -5.57558828e-01 -6.95698480e-02 1.66748022e+02] [ 5.55499071e-01 8.30136863e-01 -4.78912438e-02 6.13806642e+01] [ 8.44546812e-02 9.70471620e-04 9.96426849e-01 1.51750914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237105681 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:61.40, Z:15.18 [[ 8.17457165e-01 -5.71773220e-01 -6.95641247e-02 1.66801476e+02] [ 5.69763528e-01 8.20411577e-01 -4.78995557e-02 6.14039844e+01] [ 8.44588964e-02 -4.79266041e-04 9.96426849e-01 1.51827798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297105681 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:61.43, Z:15.19 [[ 8.09858436e-01 -5.82486760e-01 -6.95592470e-02 1.66853929e+02] [ 5.80515533e-01 8.12838650e-01 -4.79066381e-02 6.14302313e+01] [ 8.44454268e-02 -1.58262830e-03 9.96426849e-01 1.51948493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357105681 meters Centerline goodness : 0.997811 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:61.46, Z:15.20 [[ 8.11123513e-01 -5.80725634e-01 -6.95441249e-02 1.66901449e+02] [ 5.78746055e-01 8.14098185e-01 -4.79285802e-02 6.14625790e+01] [ 8.44491010e-02 -1.37238953e-03 9.96426849e-01 1.51974185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417105681 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:61.50, Z:15.21 [[ 8.21882101e-01 -5.65398782e-01 -6.95271792e-02 1.66944615e+02] [ 5.63361640e-01 8.24817651e-01 -4.79531498e-02 6.14999211e+01] [ 8.44598972e-02 2.42889823e-04 9.96426850e-01 1.52093700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters Centerline goodness : 0.996954 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:61.54, Z:15.21 [[ 8.33361402e-01 -5.48340479e-01 -6.95089420e-02 1.66990278e+02] [ 5.46241068e-01 8.36252747e-01 -4.79795705e-02 6.15376246e+01] [ 8.44361843e-02 2.01568339e-03 9.96426850e-01 1.52117204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters Centerline goodness : 0.996995 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:61.57, Z:15.22 [[ 8.40029726e-01 -5.38071396e-01 -6.94926754e-02 1.67038248e+02] [ 5.35934713e-01 8.42893637e-01 -4.80031191e-02 6.15713060e+01] [ 8.44040393e-02 3.08050991e-03 9.96426851e-01 1.52197235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters Centerline goodness : 0.996974 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:61.60, Z:15.22 [[ 8.44120985e-01 -5.31632217e-01 -6.94762394e-02 1.67084556e+02] [ 5.29471747e-01 8.46966993e-01 -4.80268957e-02 6.16037626e+01] [ 8.43767266e-02 3.75480473e-03 9.96426851e-01 1.52237033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657105681 meters Centerline goodness : 0.996581 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:61.63, Z:15.22 [[ 8.46986752e-01 -5.27056209e-01 -6.94636203e-02 1.67134367e+02] [ 5.24878877e-01 8.49819881e-01 -4.80451404e-02 6.16335796e+01] [ 8.43540551e-02 4.23361045e-03 9.96426851e-01 1.52204858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717105681 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:61.66, Z:15.22 [[ 8.43899774e-01 -5.31985676e-01 -6.94579851e-02 1.67190125e+02] [ 5.29824231e-01 8.46745042e-01 -4.80532858e-02 6.16570928e+01] [ 8.43768642e-02 3.75163350e-03 9.96426851e-01 1.52214747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777105681 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:61.68, Z:15.23 [[ 8.33892353e-01 -5.47541262e-01 -6.94414084e-02 1.67246373e+02] [ 5.45430952e-01 8.36775750e-01 -4.80772287e-02 6.16769045e+01] [ 8.44311532e-02 2.21573988e-03 9.96426852e-01 1.52307473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837105681 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:167.30, Y:61.70, Z:15.24 [[ 8.28116026e-01 -5.56241274e-01 -6.94225631e-02 1.67299418e+02] [ 5.54158986e-01 8.31019725e-01 -4.81044257e-02 6.17004441e+01] [ 8.44491863e-02 1.36490871e-03 9.96426852e-01 1.52362660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897105681 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:167.35, Y:61.73, Z:15.24 [[ 8.22440748e-01 -5.64600259e-01 -6.94101090e-02 1.67351512e+02] [ 5.62545972e-01 8.25364322e-01 -4.81223892e-02 6.17296996e+01] [ 8.44585410e-02 5.31436517e-04 9.96426853e-01 1.52368044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957105681 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:61.76, Z:15.25 [[ 8.15764972e-01 -5.74204621e-01 -6.94014647e-02 1.67402845e+02] [ 5.72183694e-01 8.18711705e-01 -4.81348526e-02 6.17582507e+01] [ 8.44590463e-02 -4.43659766e-04 9.96426853e-01 1.52464755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017105681 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:167.45, Y:61.79, Z:15.25 [[ 8.05993373e-01 -5.87843845e-01 -6.93851356e-02 1.67452845e+02] [ 5.85870741e-01 8.08972339e-01 -4.81583791e-02 6.17885608e+01] [ 8.44402622e-02 -1.83538644e-03 9.96426853e-01 1.52528309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077105681 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:61.82, Z:15.26 [[ 8.01523719e-01 -5.93925658e-01 -6.93688734e-02 1.67499354e+02] [ 5.91973128e-01 8.04516209e-01 -4.81817924e-02 6.18238305e+01] [ 8.44247859e-02 -2.44565956e-03 9.96426853e-01 1.52588899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137105681 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:167.54, Y:61.86, Z:15.27 [[ 8.06173346e-01 -5.87600789e-01 -6.93530677e-02 1.67543447e+02] [ 5.85622818e-01 8.09149082e-01 -4.82045325e-02 6.18618602e+01] [ 8.44419925e-02 -1.75352965e-03 9.96426854e-01 1.52701136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197105681 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:61.91, Z:15.28 [[ 8.17189785e-01 -5.72182832e-01 -6.93373014e-02 1.67581520e+02] [ 5.70146775e-01 8.20126083e-01 -4.82272001e-02 6.19084376e+01] [ 8.44601054e-02 -1.21663533e-04 9.96426854e-01 1.52832256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:167.62, Y:61.95, Z:15.28 [[ 8.30599742e-01 -5.52538281e-01 -6.93218394e-02 1.67623293e+02] [ 5.50430948e-01 8.33485312e-01 -4.82494151e-02 6.19522853e+01] [ 8.44383838e-02 1.91906600e-03 9.96426855e-01 1.52777530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:167.67, Y:61.99, Z:15.28 [[ 8.37221985e-01 -5.42453712e-01 -6.93059691e-02 1.67666491e+02] [ 5.40309756e-01 8.40080450e-01 -4.82722006e-02 6.19909678e+01] [ 8.44080241e-02 2.96785638e-03 9.96426855e-01 1.52780811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters Centerline goodness : 0.997727 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:62.02, Z:15.29 [[ 8.36760389e-01 -5.43166194e-01 -6.93003436e-02 1.67715231e+02] [ 5.41024004e-01 8.39620177e-01 -4.82802754e-02 6.20227213e+01] [ 8.44101802e-02 2.90587259e-03 9.96426855e-01 1.52864204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437105681 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:62.05, Z:15.29 [[ 8.33322724e-01 -5.48427771e-01 -6.92836049e-02 1.67764469e+02] [ 5.46301650e-01 8.36194477e-01 -4.83042840e-02 6.20532695e+01] [ 8.44259786e-02 2.40330989e-03 9.96426855e-01 1.52893627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497105681 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:62.09, Z:15.29 [[ 8.31813114e-01 -5.50715837e-01 -6.92748967e-02 1.67813134e+02] [ 5.48596576e-01 8.34689934e-01 -4.83167694e-02 6.20855161e+01] [ 8.44318691e-02 2.18655125e-03 9.96426856e-01 1.52920862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557105681 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:62.12, Z:15.29 [[ 8.27440951e-01 -5.57265646e-01 -6.92565727e-02 1.67862059e+02] [ 5.55166967e-01 8.30332819e-01 -4.83430207e-02 6.21160272e+01] [ 8.44459099e-02 1.55203355e-03 9.96426856e-01 1.52923646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617105681 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:62.15, Z:15.30 [[ 8.17227437e-01 -5.72139506e-01 -6.92509983e-02 1.67912472e+02] [ 5.70092796e-01 8.20156317e-01 -4.83510047e-02 6.21450822e+01] [ 8.44601636e-02 3.42723590e-05 9.96426856e-01 1.53048098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677105681 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:62.18, Z:15.31 [[ 8.10032426e-01 -5.82283453e-01 -6.92347358e-02 1.67961338e+02] [ 5.80271427e-01 8.12985240e-01 -4.83742801e-02 6.21764219e+01] [ 8.44543611e-02 -9.90203438e-04 9.96426857e-01 1.53146184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737105681 meters Centerline goodness : 0.997728 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:62.21, Z:15.32 [[ 8.12733709e-01 -5.78509052e-01 -6.92184654e-02 1.68009930e+02] [ 5.76481330e-01 8.15675765e-01 -4.83975501e-02 6.22087393e+01] [ 8.44582456e-02 -5.68832574e-04 9.96426857e-01 1.53221770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797105681 meters Centerline goodness : 0.997645 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:62.24, Z:15.32 [[ 8.20398178e-01 -5.67589573e-01 -6.92019303e-02 1.68057636e+02] [ 5.65520698e-01 8.23311441e-01 -4.84211816e-02 6.22418970e+01] [ 8.44580988e-02 5.89525256e-04 9.96426857e-01 1.53246036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857105681 meters Centerline goodness : 0.997291 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:62.28, Z:15.33 [[ 8.23755104e-01 -5.62707223e-01 -6.91961679e-02 1.68103600e+02] [ 5.60620391e-01 8.26655532e-01 -4.84294150e-02 6.22760290e+01] [ 8.44529766e-02 1.10119507e-03 9.96426857e-01 1.53299142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917105681 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:62.31, Z:15.33 [[ 8.34557597e-01 -5.46560250e-01 -6.91773884e-02 1.68149991e+02] [ 5.44415117e-01 8.37415174e-01 -4.84562253e-02 6.23110390e+01] [ 8.44144413e-02 2.77829488e-03 9.96426858e-01 1.53327875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:62.34, Z:15.33 [[ 8.39945740e-01 -5.38245473e-01 -6.91589872e-02 1.68201504e+02] [ 5.36069912e-01 8.42780220e-01 -4.84824741e-02 6.23404579e+01] [ 8.43812986e-02 3.64859543e-03 9.96426858e-01 1.53304898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:168.25, Y:62.37, Z:15.34 [[ 8.36255819e-01 -5.43962599e-01 -6.91440306e-02 1.68253314e+02] [ 5.41804664e-01 8.39103741e-01 -4.85037953e-02 6.23677909e+01] [ 8.44032653e-02 3.09902273e-03 9.96426859e-01 1.53410240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:62.40, Z:15.34 [[ 8.30814146e-01 -5.52240153e-01 -6.91279085e-02 1.68305351e+02] [ 5.50108697e-01 8.33681939e-01 -4.85267618e-02 6.23961826e+01] [ 8.44291152e-02 2.28885651e-03 9.96426859e-01 1.53434045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:168.36, Y:62.42, Z:15.35 [[ 8.22610648e-01 -5.64389254e-01 -6.91121629e-02 1.68357856e+02] [ 5.62298287e-01 8.25508094e-01 -4.85491766e-02 6.24227112e+01] [ 8.44532834e-02 1.07541884e-03 9.96426860e-01 1.53472406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:62.45, Z:15.35 [[ 8.11043093e-01 -5.80891605e-01 -6.90944538e-02 1.68410837e+02] [ 5.78857451e-01 8.13980702e-01 -4.85743669e-02 6.24489437e+01] [ 8.44579940e-02 -5.99934548e-04 9.96426860e-01 1.53547320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:62.48, Z:15.36 [[ 8.04382343e-01 -5.90082288e-01 -6.90792213e-02 1.68462828e+02] [ 5.88079831e-01 8.07341650e-01 -4.85960199e-02 6.24777899e+01] [ 8.44461831e-02 -1.53431639e-03 9.96426860e-01 1.53582452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:168.51, Y:62.51, Z:15.37 [[ 7.98836389e-01 -5.97570491e-01 -6.90646843e-02 1.68510245e+02] [ 5.95593982e-01 8.01813088e-01 -4.86166712e-02 6.25106997e+01] [ 8.44288559e-02 -2.29774426e-03 9.96426861e-01 1.53690546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:168.55, Y:62.55, Z:15.38 [[ 8.04632388e-01 -5.89744845e-01 -6.90488116e-02 1.68553774e+02] [ 5.87737442e-01 8.07588340e-01 -4.86392044e-02 6.25494880e+01] [ 8.44477352e-02 -1.44589271e-03 9.96426861e-01 1.53762051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:168.60, Y:62.59, Z:15.38 [[ 8.16196691e-01 -5.73635502e-01 -6.90309597e-02 1.68597533e+02] [ 5.71567601e-01 8.19110641e-01 -4.86645274e-02 6.25880939e+01] [ 8.44596942e-02 2.63966232e-04 9.96426862e-01 1.53792518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517105681 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:62.63, Z:15.38 [[ 8.23137675e-01 -5.63632494e-01 -6.90128950e-02 1.68639923e+02] [ 5.61527041e-01 8.26024608e-01 -4.86901322e-02 6.26272648e+01] [ 8.44496902e-02 1.32607543e-03 9.96426862e-01 1.53833297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577105681 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:62.66, Z:15.38 [[ 8.27686512e-01 -5.56932617e-01 -6.90007063e-02 1.68686704e+02] [ 5.54802362e-01 8.30555193e-01 -4.87073993e-02 6.26641092e+01] [ 8.44356342e-02 2.03270255e-03 9.96426862e-01 1.53838337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637105681 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:168.73, Y:62.70, Z:15.39 [[ 8.25163692e-01 -5.60664739e-01 -6.89922597e-02 1.68733337e+02] [ 5.58546462e-01 8.28041227e-01 -4.87193607e-02 6.26987475e+01] [ 8.44436630e-02 1.66606499e-03 9.96426862e-01 1.53865989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697105681 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:168.79, Y:62.73, Z:15.39 [[ 8.24087018e-01 -5.62246823e-01 -6.89862061e-02 1.68785931e+02] [ 5.60133353e-01 8.26968086e-01 -4.87279309e-02 6.27263466e+01] [ 8.44465152e-02 1.51458034e-03 9.96426862e-01 1.53899475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:62.76, Z:15.40 [[ 8.19926075e-01 -5.68299464e-01 -6.89706486e-02 1.68831830e+02] [ 5.66205414e-01 8.22821288e-01 -4.87499415e-02 6.27592145e+01] [ 8.44550836e-02 9.19793551e-04 9.96426863e-01 1.53978711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:62.78, Z:15.40 [[ 8.19541895e-01 -5.68854362e-01 -6.89622830e-02 1.68886234e+02] [ 5.66761276e-01 8.22437806e-01 -4.87617728e-02 6.27848987e+01] [ 8.44555359e-02 8.77164196e-04 9.96426863e-01 1.53958367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:62.81, Z:15.40 [[ 8.13065615e-01 -5.78075013e-01 -6.89462490e-02 1.68935939e+02] [ 5.76012849e-01 8.15983625e-01 -4.87844333e-02 6.28148715e+01] [ 8.44600722e-02 -4.89800426e-05 9.96426863e-01 1.54040144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:62.84, Z:15.41 [[ 8.02993339e-01 -5.91988487e-01 -6.89298858e-02 1.68987840e+02] [ 5.89974887e-01 8.05945071e-01 -4.88075428e-02 6.28428056e+01] [ 8.44472051e-02 -1.47476979e-03 9.96426864e-01 1.54120533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:62.88, Z:15.42 [[ 8.03194747e-01 -5.91717113e-01 -6.89133946e-02 1.69036796e+02] [ 5.89700520e-01 8.06144434e-01 -4.88308165e-02 6.28757738e+01] [ 8.44481792e-02 -1.41760928e-03 9.96426864e-01 1.54156786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:62.91, Z:15.42 [[ 8.13210219e-01 -5.77877347e-01 -6.88978341e-02 1.69083500e+02] [ 5.75808682e-01 8.16123624e-01 -4.88527617e-02 6.29111396e+01] [ 8.44600543e-02 5.55939295e-05 9.96426864e-01 1.54225848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:62.95, Z:15.43 [[ 8.18641647e-01 -5.70158781e-01 -6.88826495e-02 1.69129851e+02] [ 5.68060848e-01 8.21534046e-01 -4.88741628e-02 6.29465255e+01] [ 8.44554748e-02 8.80888783e-04 9.96426865e-01 1.54304016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:62.98, Z:15.44 [[ 8.21465014e-01 -5.66085482e-01 -6.88655112e-02 1.69177338e+02] [ 5.63971186e-01 8.24345473e-01 -4.88982994e-02 6.29795810e+01] [ 8.44495897e-02 1.33007821e-03 9.96426865e-01 1.54402518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237105681 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:63.01, Z:15.44 [[ 8.25988336e-01 -5.59466800e-01 -6.88488822e-02 1.69225853e+02] [ 5.57327478e-01 8.28850257e-01 -4.89217019e-02 6.30095356e+01] [ 8.44354817e-02 2.03738121e-03 9.96426866e-01 1.54436306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:63.04, Z:15.44 [[ 8.31461210e-01 -5.51301373e-01 -6.88407802e-02 1.69275369e+02] [ 5.49133015e-01 8.34301195e-01 -4.89331001e-02 6.30413970e+01] [ 8.44108304e-02 2.88322942e-03 9.96426866e-01 1.54413822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:169.33, Y:63.07, Z:15.44 [[ 8.34840824e-01 -5.46172190e-01 -6.88239685e-02 1.69326450e+02] [ 5.43984445e-01 8.37665901e-01 -4.89567342e-02 6.30698060e+01] [ 8.43902983e-02 3.43191194e-03 9.96426866e-01 1.54378208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:63.10, Z:15.45 [[ 8.33384034e-01 -5.48393220e-01 -6.88180825e-02 1.69380228e+02] [ 5.46212324e-01 8.36214401e-01 -4.89650067e-02 6.30954165e+01] [ 8.43987494e-02 3.21737002e-03 9.96426866e-01 1.54463747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:169.43, Y:63.12, Z:15.45 [[ 8.28817790e-01 -5.55272354e-01 -6.88017728e-02 1.69433702e+02] [ 5.53113061e-01 8.31664672e-01 -4.89879132e-02 6.31193230e+01] [ 8.44216377e-02 2.54689478e-03 9.96426867e-01 1.54512872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.49, Y:63.14, Z:15.46 [[ 8.23093555e-01 -5.63724971e-01 -6.87834022e-02 1.69489190e+02] [ 5.61592772e-01 8.25960784e-01 -4.90136936e-02 6.31410941e+01] [ 8.44426359e-02 1.71459380e-03 9.96426867e-01 1.54601458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:63.17, Z:15.47 [[ 8.21120530e-01 -5.66597022e-01 -6.87669322e-02 1.69541275e+02] [ 5.64472918e-01 8.23993761e-01 -4.90367906e-02 6.31670964e+01] [ 8.44476225e-02 1.44804460e-03 9.96426867e-01 1.54673384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:169.59, Y:63.20, Z:15.47 [[ 8.20873195e-01 -5.66957565e-01 -6.87482216e-02 1.69590915e+02] [ 5.64832528e-01 8.23745736e-01 -4.90630083e-02 6.31965331e+01] [ 8.44476981e-02 1.44327652e-03 9.96426868e-01 1.54714888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.64, Y:63.23, Z:15.48 [[ 8.21126140e-01 -5.66593494e-01 -6.87289902e-02 1.69638807e+02] [ 5.64464931e-01 8.23996068e-01 -4.90899335e-02 6.32277213e+01] [ 8.44464547e-02 1.51392294e-03 9.96426869e-01 1.54758501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.69, Y:63.26, Z:15.49 [[ 8.21252429e-01 -5.66411422e-01 -6.87208105e-02 1.69690454e+02] [ 5.64281264e-01 8.24121174e-01 -4.91013816e-02 6.32557225e+01] [ 8.44458584e-02 1.54676309e-03 9.96426869e-01 1.54858505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:63.29, Z:15.51 [[ 8.13346131e-01 -5.77709086e-01 -6.87043110e-02 1.69739317e+02] [ 5.75616837e-01 8.16242639e-01 -4.91244576e-02 6.32853191e+01] [ 8.44590336e-02 4.07829385e-04 9.96426869e-01 1.55062595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:63.32, Z:15.51 [[ 8.04972500e-01 -5.89321373e-01 -6.86993015e-02 1.69787007e+02] [ 5.87270307e-01 8.07898314e-01 -4.91314622e-02 6.33169017e+01] [ 8.44562706e-02 -7.95583912e-04 9.96426869e-01 1.55116800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.83, Y:63.35, Z:15.51 [[ 8.02600996e-01 -5.92547979e-01 -6.86915859e-02 1.69834459e+02] [ 5.90507751e-01 8.05534379e-01 -4.91422471e-02 6.33533816e+01] [ 8.44525732e-02 -1.12129739e-03 9.96426869e-01 1.55068587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:169.88, Y:63.39, Z:15.51 [[ 8.05672734e-01 -5.88366405e-01 -6.86761930e-02 1.69878712e+02] [ 5.86309118e-01 8.08594178e-01 -4.91637493e-02 6.33914914e+01] [ 8.44574682e-02 -6.55585819e-04 9.96426870e-01 1.55115228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:63.43, Z:15.51 [[ 8.13961976e-01 -5.76846409e-01 -6.86594636e-02 1.69922855e+02] [ 5.74745803e-01 8.16852429e-01 -4.91871016e-02 6.34313594e+01] [ 8.44580526e-02 5.74691877e-04 9.96426870e-01 1.55066830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:169.96, Y:63.47, Z:15.53 [[ 8.24216467e-01 -5.62098887e-01 -6.86444195e-02 1.69963209e+02] [ 5.59944838e-01 8.27067315e-01 -4.92080879e-02 6.34748083e+01] [ 8.44333672e-02 2.12102807e-03 9.96426870e-01 1.55264252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:63.51, Z:15.53 [[ 8.27303311e-01 -5.57546308e-01 -6.86392460e-02 1.70009663e+02] [ 5.55375977e-01 8.30141782e-01 -4.92153033e-02 6.35082799e+01] [ 8.44201167e-02 2.59539506e-03 9.96426870e-01 1.55323678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:170.06, Y:63.54, Z:15.53 [[ 8.25328813e-01 -5.60465694e-01 -6.86334941e-02 1.70059658e+02] [ 5.58304738e-01 8.28174428e-01 -4.92233233e-02 6.35415151e+01] [ 8.44284888e-02 2.30702207e-03 9.96426870e-01 1.55257910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.11, Y:63.57, Z:15.54 [[ 8.21405887e-01 -5.66201280e-01 -6.86183596e-02 1.70109859e+02] [ 5.64058438e-01 8.24265167e-01 -4.92444121e-02 6.35721290e+01] [ 8.44419729e-02 1.74488524e-03 9.96426871e-01 1.55392860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:63.60, Z:15.55 [[ 8.11866369e-01 -5.79798655e-01 -6.86040766e-02 1.70158920e+02] [ 5.77702034e-01 8.14759712e-01 -4.92643023e-02 6.36041557e+01] [ 8.44592139e-02 3.63315563e-04 9.96426871e-01 1.55501942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:63.64, Z:15.55 [[ 8.06486238e-01 -5.87261178e-01 -6.85875777e-02 1.70206657e+02] [ 5.85189377e-01 8.09397405e-01 -4.92872621e-02 6.36366399e+01] [ 8.44591030e-02 -3.87223292e-04 9.96426871e-01 1.55491626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:63.67, Z:15.55 [[ 7.99305381e-01 -5.96999023e-01 -6.85789656e-02 1.70253386e+02] [ 5.94961653e-01 8.02240747e-01 -4.92992422e-02 6.36702694e+01] [ 8.44484400e-02 -1.39670517e-03 9.96426871e-01 1.55490687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:170.30, Y:63.71, Z:15.55 [[ 7.91335930e-01 -6.07524074e-01 -6.85707316e-02 1.70299226e+02] [ 6.05524736e-01 7.94297331e-01 -4.93106923e-02 6.37079708e+01] [ 8.44229817e-02 -2.49995159e-03 9.96426872e-01 1.55530153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:63.74, Z:15.57 [[ 7.86916897e-01 -6.13237997e-01 -6.85635244e-02 1.70345912e+02] [ 6.11259282e-01 7.89892117e-01 -4.93207114e-02 6.37432768e+01] [ 8.44031217e-02 -3.09878953e-03 9.96426872e-01 1.55655889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:63.79, Z:15.58 [[ 7.87870272e-01 -6.12014129e-01 -6.85502831e-02 1.70385056e+02] [ 6.10029195e-01 7.90841346e-01 -4.93391085e-02 6.37869549e+01] [ 8.44086296e-02 -2.94485721e-03 9.96426872e-01 1.55765373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:170.42, Y:63.83, Z:15.58 [[ 7.96735270e-01 -6.00428577e-01 -6.85451228e-02 1.70423359e+02] [ 5.98399796e-01 7.99676578e-01 -4.93462765e-02 6.38318483e+01] [ 8.44428438e-02 -1.70146861e-03 9.96426872e-01 1.55826746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797105681 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:63.89, Z:15.59 [[ 8.11845944e-01 -5.79836381e-01 -6.85268901e-02 1.70456588e+02] [ 5.77730835e-01 8.14732796e-01 -4.93715833e-02 6.38856918e+01] [ 8.44585449e-02 4.92022206e-04 9.96426872e-01 1.55855715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:63.93, Z:15.58 [[ 8.19711471e-01 -5.68664590e-01 -6.85104944e-02 1.70497200e+02] [ 5.66517809e-01 8.22567792e-01 -4.93943243e-02 6.39313409e+01] [ 8.44433293e-02 1.67667901e-03 9.96426873e-01 1.55811668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:170.54, Y:63.97, Z:15.59 [[ 8.20097596e-01 -5.68109571e-01 -6.84941454e-02 1.70541192e+02] [ 5.65958966e-01 8.22951038e-01 -4.94169848e-02 6.39708338e+01] [ 8.44415901e-02 1.76187476e-03 9.96426873e-01 1.55878611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:170.59, Y:64.01, Z:15.59 [[ 8.15375064e-01 -5.74868933e-01 -6.84778379e-02 1.70586764e+02] [ 5.72740091e-01 8.18244778e-01 -4.94395721e-02 6.40096168e+01] [ 8.44529074e-02 1.09179124e-03 9.96426874e-01 1.55857231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:170.63, Y:64.04, Z:15.59 [[ 8.06538627e-01 -5.87203816e-01 -6.84625587e-02 1.70633696e+02] [ 5.85117071e-01 8.09439096e-01 -4.94607214e-02 6.40439317e+01] [ 8.44597960e-02 -1.66629506e-04 9.96426874e-01 1.55917391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:170.68, Y:64.08, Z:15.59 [[ 8.01176701e-01 -5.94500650e-01 -6.84461138e-02 1.70680079e+02] [ 5.92438375e-01 8.04094620e-01 -4.94834682e-02 6.40813037e+01] [ 8.44551059e-02 -9.05102618e-04 9.96426874e-01 1.55892032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157105681 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:170.72, Y:64.12, Z:15.60 [[ 8.01015609e-01 -5.94718217e-01 -6.84414818e-02 1.70723831e+02] [ 5.92656188e-01 8.03933701e-01 -4.94898740e-02 6.41207077e+01] [ 8.44549434e-02 -9.20106153e-04 9.96426874e-01 1.55966961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217105681 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:170.77, Y:64.16, Z:15.60 [[ 8.06289322e-01 -5.87550513e-01 -6.84245789e-02 1.70768860e+02] [ 5.85460557e-01 8.09187479e-01 -4.95132328e-02 6.41588776e+01] [ 8.44598379e-02 -1.37901180e-04 9.96426875e-01 1.56030754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277105681 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:64.20, Z:15.61 [[ 8.13089329e-01 -5.78105554e-01 -6.84084184e-02 1.70811888e+02] [ 5.75980057e-01 8.15961520e-01 -4.95355505e-02 6.41976033e+01] [ 8.44554140e-02 8.74942696e-04 9.96426875e-01 1.56082328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337105681 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:64.23, Z:15.61 [[ 8.17795275e-01 -5.71431239e-01 -6.83902637e-02 1.70860150e+02] [ 5.69280211e-01 8.20648395e-01 -4.95606028e-02 6.42306284e+01] [ 8.44448368e-02 1.59720301e-03 9.96426876e-01 1.56126940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397105681 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:64.26, Z:15.63 [[ 8.20780161e-01 -5.67137495e-01 -6.83738892e-02 1.70907445e+02] [ 5.64969664e-01 8.23620535e-01 -4.95831829e-02 6.42646285e+01] [ 8.44346214e-02 2.06771967e-03 9.96426876e-01 1.56253696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457105681 meters Centerline goodness : 0.997822 with order 1 Centerline is valid? [True, True] Translation: X:170.95, Y:64.30, Z:15.64 [[ 8.17874219e-01 -5.71322143e-01 -6.83576675e-02 1.70954919e+02] [ 5.69166980e-01 8.20724217e-01 -4.96055368e-02 6.42958069e+01] [ 8.44435347e-02 1.66416248e-03 9.96426876e-01 1.56387197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517105681 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:64.32, Z:15.64 [[ 8.17267867e-01 -5.72189860e-01 -6.83520208e-02 1.71005380e+02] [ 5.70037073e-01 8.20119659e-01 -4.96133163e-02 6.43233278e+01] [ 8.44450725e-02 1.58418338e-03 9.96426876e-01 1.56416121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577105681 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:64.36, Z:15.64 [[ 8.22805356e-01 -5.64198893e-01 -6.83443821e-02 1.71055367e+02] [ 5.62017546e-01 8.25635363e-01 -4.96238368e-02 6.43556215e+01] [ 8.44252525e-02 2.42001679e-03 9.96426877e-01 1.56392321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637105681 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:171.11, Y:64.38, Z:15.64 [[ 8.23273525e-01 -5.63517505e-01 -6.83280719e-02 1.71108322e+02] [ 5.61331955e-01 8.26100286e-01 -4.96462845e-02 6.43807979e+01] [ 8.44223901e-02 2.51774142e-03 9.96426877e-01 1.56396172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:64.41, Z:15.64 [[ 8.21293264e-01 -5.66400810e-01 -6.83190773e-02 1.71159587e+02] [ 5.64224157e-01 8.24126882e-01 -4.96586590e-02 6.44094597e+01] [ 8.44302929e-02 2.23704833e-03 9.96426877e-01 1.56449851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:64.44, Z:15.66 [[ 8.15571916e-01 -5.74610534e-01 -6.83021535e-02 1.71209423e+02] [ 5.72460467e-01 8.18425757e-01 -4.96819257e-02 6.44388162e+01] [ 8.44479996e-02 1.41890069e-03 9.96426877e-01 1.56565841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:171.26, Y:64.47, Z:15.66 [[ 8.10352137e-01 -5.81949743e-01 -6.82928333e-02 1.71260973e+02] [ 5.79824446e-01 8.13224474e-01 -4.96947339e-02 6.44684490e+01] [ 8.44572411e-02 6.72379579e-04 9.96426878e-01 1.56594162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:171.31, Y:64.50, Z:15.66 [[ 8.07163439e-01 -5.86366360e-01 -6.82764587e-02 1.71309832e+02] [ 5.84254879e-01 8.10045946e-01 -4.97172212e-02 6.45025229e+01] [ 8.44595746e-02 2.39069091e-04 9.96426878e-01 1.56605741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:171.36, Y:64.54, Z:15.67 [[ 8.05624492e-01 -5.88479967e-01 -6.82679008e-02 1.71356437e+02] [ 5.86375053e-01 8.08511798e-01 -4.97289695e-02 6.45378043e+01] [ 8.44599056e-02 3.22819009e-05 9.96426878e-01 1.56701479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:171.40, Y:64.57, Z:15.67 [[ 8.08924837e-01 -5.83937069e-01 -6.82503233e-02 1.71403095e+02] [ 5.81813905e-01 8.11798750e-01 -4.97530820e-02 6.45741734e+01] [ 8.44581961e-02 5.37516604e-04 9.96426879e-01 1.56688408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:64.61, Z:15.68 [[ 8.12974383e-01 -5.78286922e-01 -6.82414022e-02 1.71449533e+02] [ 5.76142760e-01 8.15832663e-01 -4.97653152e-02 6.46101198e+01] [ 8.44521959e-02 1.14113657e-03 9.96426879e-01 1.56759348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:171.50, Y:64.64, Z:15.68 [[ 8.19442948e-01 -5.69085922e-01 -6.82236584e-02 1.71498271e+02] [ 5.66907654e-01 8.22275322e-01 -4.97896286e-02 6.46418035e+01] [ 8.44332074e-02 2.12324593e-03 9.96426879e-01 1.56834713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177105681 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:171.55, Y:64.67, Z:15.70 [[ 8.17533812e-01 -5.71827048e-01 -6.82077278e-02 1.71546970e+02] [ 5.69656459e-01 8.20372074e-01 -4.98114427e-02 6.46721922e+01] [ 8.44392453e-02 1.86756597e-03 9.96426879e-01 1.57004357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:64.70, Z:15.70 [[ 8.19505488e-01 -5.68999967e-01 -6.81893909e-02 1.71600534e+02] [ 5.66817502e-01 8.22334627e-01 -4.98365324e-02 6.46963948e+01] [ 8.44314827e-02 2.19037153e-03 9.96426880e-01 1.57032287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:64.72, Z:15.70 [[ 8.25548110e-01 -5.60197595e-01 -6.81833771e-02 1.71653945e+02] [ 5.57984301e-01 8.28353198e-01 -4.98447587e-02 6.47246085e+01] [ 8.44028324e-02 3.10399237e-03 9.96426880e-01 1.57000587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:64.75, Z:15.70 [[ 8.29205976e-01 -5.54770756e-01 -6.81678605e-02 1.71705056e+02] [ 5.52537372e-01 8.31995094e-01 -4.98659704e-02 6.47531210e+01] [ 8.43795076e-02 3.68387015e-03 9.96426880e-01 1.57048181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:64.78, Z:15.71 [[ 8.30578071e-01 -5.52715479e-01 -6.81591266e-02 1.71757592e+02] [ 5.50474219e-01 8.33360864e-01 -4.98779054e-02 6.47817333e+01] [ 8.43694390e-02 3.90765250e-03 9.96426880e-01 1.57058066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.82, Y:64.80, Z:15.72 [[ 8.22853346e-01 -5.64153133e-01 -6.81440664e-02 1.71817128e+02] [ 5.61948885e-01 8.25665546e-01 -4.98984725e-02 6.48001127e+01] [ 8.44145874e-02 2.76564297e-03 9.96426881e-01 1.57200823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:171.87, Y:64.83, Z:15.71 [[ 8.13295940e-01 -5.77846949e-01 -6.81367499e-02 1.71869586e+02] [ 5.75689243e-01 8.16144007e-01 -4.99084613e-02 6.48291410e+01] [ 8.44488522e-02 1.36475499e-03 9.96426881e-01 1.57136729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:64.86, Z:15.72 [[ 8.10377913e-01 -5.81934090e-01 -6.81201461e-02 1.71921026e+02] [ 5.79788845e-01 8.13235377e-01 -4.99311136e-02 6.48585952e+01] [ 8.44543298e-02 9.67770775e-04 9.96426881e-01 1.57152844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:64.89, Z:15.72 [[ 8.09193871e-01 -5.83581237e-01 -6.81044705e-02 1.71969784e+02] [ 5.81440010e-01 8.12054348e-01 -4.99524854e-02 6.48908796e+01] [ 8.44558646e-02 8.22581037e-04 9.96426882e-01 1.57223176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:172.02, Y:64.93, Z:15.73 [[ 8.06884454e-01 -5.86772084e-01 -6.80881668e-02 1.72015527e+02] [ 5.84640296e-01 8.09751971e-01 -4.99746986e-02 6.49278357e+01] [ 8.44582853e-02 5.16721438e-04 9.96426882e-01 1.57251021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:64.96, Z:15.74 [[ 8.02659085e-01 -5.92540840e-01 -6.80716307e-02 1.72062443e+02] [ 5.90427751e-01 8.05540408e-01 -4.99972127e-02 6.49625043e+01] [ 8.44598396e-02 -6.06628676e-05 9.96426882e-01 1.57352287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.11, Y:65.00, Z:15.75 [[ 8.04548805e-01 -5.89973316e-01 -6.80639847e-02 1.72108361e+02] [ 5.87850152e-01 8.07422713e-01 -5.00076195e-02 6.49980927e+01] [ 8.44595682e-02 2.22146809e-04 9.96426882e-01 1.57545016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:65.04, Z:15.76 [[ 8.09518314e-01 -5.83137519e-01 -6.80494935e-02 1.72151869e+02] [ 5.80988432e-01 8.12372887e-01 -5.00273311e-02 6.50383088e+01] [ 8.44543773e-02 9.62072120e-04 9.96426883e-01 1.57616148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.20, Y:65.07, Z:15.77 [[ 8.13179679e-01 -5.78022724e-01 -6.80333751e-02 1.72197284e+02] [ 5.75853851e-01 8.16019249e-01 -5.00492414e-02 6.50739833e+01] [ 8.44461425e-02 1.52174501e-03 9.96426883e-01 1.57715231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:65.11, Z:15.77 [[ 8.11947706e-01 -5.79753906e-01 -6.80171310e-02 1.72242409e+02] [ 5.77589241e-01 8.14790484e-01 -5.00713075e-02 6.51107776e+01] [ 8.44487472e-02 1.36932020e-03 9.96426883e-01 1.57743806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.29, Y:65.15, Z:15.77 [[ 8.09390859e-01 -5.83320338e-01 -6.79986836e-02 1.72289434e+02] [ 5.81166096e-01 8.12241543e-01 -5.00963473e-02 6.51469584e+01] [ 8.44535739e-02 1.02899606e-03 9.96426884e-01 1.57718934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.33, Y:65.18, Z:15.78 [[ 8.11360777e-01 -5.80579173e-01 -6.79817103e-02 1.72333179e+02] [ 5.78413373e-01 8.14202689e-01 -5.01193699e-02 6.51837293e+01] [ 8.44491536e-02 1.34336057e-03 9.96426884e-01 1.57754749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:65.22, Z:15.78 [[ 8.19097192e-01 -5.69613384e-01 -6.79733996e-02 1.72380124e+02] [ 5.67408620e-01 8.21908984e-01 -5.01306385e-02 6.52181898e+01] [ 8.44230304e-02 2.49317238e-03 9.96426884e-01 1.57774935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:65.26, Z:15.78 [[ 8.26172458e-01 -5.59304240e-01 -6.79546677e-02 1.72425111e+02] [ 5.57062332e-01 8.28954723e-01 -5.01560178e-02 6.52561823e+01] [ 8.43838162e-02 3.58253489e-03 9.96426885e-01 1.57798822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.48, Y:65.29, Z:15.78 [[ 8.23386319e-01 -5.63399857e-01 -6.79379968e-02 1.72476164e+02] [ 5.61169934e-01 8.26178198e-01 -5.01785891e-02 6.52874189e+01] [ 8.43995016e-02 3.19160256e-03 9.96426885e-01 1.57787256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.52, Y:65.32, Z:15.79 [[ 8.15945469e-01 -5.74125044e-01 -6.79222035e-02 1.72524033e+02] [ 5.71930064e-01 8.18764903e-01 -5.01999579e-02 6.53209733e+01] [ 8.44333694e-02 2.11367799e-03 9.96426886e-01 1.57874280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:65.35, Z:15.79 [[ 8.08273823e-01 -5.84878001e-01 -6.79054625e-02 1.72572156e+02] [ 5.82718641e-01 8.11120630e-01 -5.02225933e-02 6.53528929e+01] [ 8.44536115e-02 1.02382862e-03 9.96426886e-01 1.57907343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:65.39, Z:15.80 [[ 8.00664129e-01 -5.95254879e-01 -6.78865341e-02 1.72618161e+02] [ 5.93130250e-01 8.03536949e-01 -5.02481661e-02 6.53867235e+01] [ 8.44598045e-02 -3.36528482e-05 9.96426887e-01 1.57967953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:65.42, Z:15.80 [[ 7.98539251e-01 -5.98103837e-01 -6.78738958e-02 1.72665079e+02] [ 5.95988007e-01 8.01418556e-01 -5.02652318e-02 6.54204701e+01] [ 8.44592276e-02 -3.13267332e-04 9.96426887e-01 1.58025080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:172.71, Y:65.46, Z:15.81 [[ 7.90277687e-01 -6.08980117e-01 -6.78556876e-02 1.72710392e+02] [ 6.06901795e-01 7.93184182e-01 -5.02898000e-02 6.54576254e+01] [ 8.44475464e-02 -1.43883178e-03 9.96426887e-01 1.58117987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.75, Y:65.50, Z:15.82 [[ 7.84156604e-01 -6.16843733e-01 -6.78397362e-02 1.72752728e+02] [ 6.14792688e-01 7.87082411e-01 -5.03113090e-02 6.54973352e+01] [ 8.44296788e-02 -2.25542857e-03 9.96426888e-01 1.58193255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:65.54, Z:15.83 [[ 7.77528504e-01 -6.25178334e-01 -6.78341788e-02 1.72794873e+02] [ 6.23157983e-01 7.80475590e-01 -5.03188009e-02 6.55380254e+01] [ 8.44011448e-02 -3.14710808e-03 9.96426888e-01 1.58252441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:172.83, Y:65.59, Z:15.83 [[ 7.78708493e-01 -6.23710070e-01 -6.78146834e-02 1.72831667e+02] [ 6.21681879e-01 7.81650188e-01 -5.03450612e-02 6.55859163e+01] [ 8.44080817e-02 -2.95503306e-03 9.96426888e-01 1.58261520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:65.64, Z:15.83 [[ 7.84583498e-01 -6.16304071e-01 -6.78087533e-02 1.72867482e+02] [ 6.14247410e-01 7.87505359e-01 -5.03530471e-02 6.56366148e+01] [ 8.44325445e-02 -2.14518120e-03 9.96426888e-01 1.58292055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:172.90, Y:65.69, Z:15.83 [[ 7.88743491e-01 -6.10972930e-01 -6.77922211e-02 1.72902110e+02] [ 6.08894603e-01 7.91649981e-01 -5.03752952e-02 6.56877996e+01] [ 8.44456522e-02 -1.54513137e-03 9.96426889e-01 1.58328617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:172.94, Y:65.73, Z:15.83 [[ 7.87433971e-01 -6.12661879e-01 -6.77728886e-02 1.72940010e+02] [ 6.10587550e-01 7.90343314e-01 -5.04012911e-02 6.57339024e+01] [ 8.44427991e-02 -1.69359320e-03 9.96426889e-01 1.58323746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:65.78, Z:15.84 [[ 7.84830648e-01 -6.15994225e-01 -6.77640718e-02 1.72975664e+02] [ 6.13931225e-01 7.87748035e-01 -5.04131424e-02 6.57831528e+01] [ 8.44352190e-02 -2.03670043e-03 9.96426889e-01 1.58418374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:65.83, Z:15.84 [[ 7.90863090e-01 -6.08231719e-01 -6.77476856e-02 1.73014503e+02] [ 6.06138189e-01 7.93758648e-01 -5.04351534e-02 6.58265258e+01] [ 8.44515714e-02 -1.17715820e-03 9.96426890e-01 1.58430418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157105681 meters Centerline goodness : 0.998403 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:65.87, Z:15.85 [[ 7.96225330e-01 -6.01195938e-01 -6.77397014e-02 1.73054873e+02] [ 5.99075907e-01 7.99101540e-01 -5.04458748e-02 6.58700630e+01] [ 8.44587548e-02 -4.14939721e-04 9.96426890e-01 1.58452222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217105681 meters Centerline goodness : 0.997709 with order 1 Centerline is valid? [True, True] Translation: X:173.09, Y:65.91, Z:15.85 [[ 7.98404329e-01 -5.98300925e-01 -6.77239273e-02 1.73094661e+02] [ 5.96168668e-01 8.01271487e-01 -5.04670428e-02 6.59140701e+01] [ 8.44597303e-02 -8.17781074e-05 9.96426890e-01 1.58516947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277105681 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:173.14, Y:65.95, Z:15.86 [[ 8.00516809e-01 -5.95473274e-01 -6.77083322e-02 1.73141152e+02] [ 5.93329121e-01 8.03375081e-01 -5.04879571e-02 6.59488875e+01] [ 8.44594160e-02 2.43133090e-04 9.96426890e-01 1.58566197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337105681 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:65.99, Z:15.86 [[ 8.04921811e-01 -5.89506717e-01 -6.76957111e-02 1.73181931e+02] [ 5.87339955e-01 8.07762982e-01 -5.05048742e-02 6.59894380e+01] [ 8.44550520e-02 8.92078912e-04 9.96426891e-01 1.58617452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397105681 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:66.02, Z:15.87 [[ 8.11801101e-01 -5.79998400e-01 -6.76818213e-02 1.73229010e+02] [ 5.77796820e-01 8.14615377e-01 -5.05234811e-02 6.60234412e+01] [ 8.44381906e-02 1.90867646e-03 9.96426891e-01 1.58655596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457105681 meters Centerline goodness : 0.997179 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:66.06, Z:15.87 [[ 8.19253291e-01 -5.69425776e-01 -6.76633692e-02 1.73277841e+02] [ 5.67185861e-01 8.22037152e-01 -5.05481811e-02 6.60572652e+01] [ 8.44052406e-02 3.03405734e-03 9.96426891e-01 1.58672896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517105681 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:66.09, Z:15.86 [[ 8.22674184e-01 -5.64473249e-01 -6.76545567e-02 1.73330017e+02] [ 5.62215614e-01 8.25443694e-01 -5.05599731e-02 6.60875279e+01] [ 8.43847795e-02 3.55793648e-03 9.96426891e-01 1.58636300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577105681 meters Centerline goodness : 0.997541 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:66.11, Z:15.88 [[ 8.18152838e-01 -5.71007756e-01 -6.76466975e-02 1.73385653e+02] [ 5.68771384e-01 8.20939546e-01 -5.05704862e-02 6.61098673e+01] [ 8.44099890e-02 2.89888112e-03 9.96426892e-01 1.58752817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637105681 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:173.44, Y:66.13, Z:15.88 [[ 8.11085536e-01 -5.81004651e-01 -6.76302310e-02 1.73442227e+02] [ 5.78800810e-01 8.13898041e-01 -5.05924980e-02 6.61311514e+01] [ 8.44385892e-02 1.89041091e-03 9.96426892e-01 1.58814670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697105681 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:173.50, Y:66.16, Z:15.89 [[ 8.07334013e-01 -5.86208388e-01 -6.76129945e-02 1.73495160e+02] [ 5.84020750e-01 8.10159140e-01 -5.06155229e-02 6.61579446e+01] [ 8.44485295e-02 1.37624150e-03 9.96426892e-01 1.58892862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:66.18, Z:15.89 [[ 8.04967265e-01 -5.89456112e-01 -6.75958085e-02 1.73548583e+02] [ 5.87277948e-01 8.07799702e-01 -5.06384641e-02 6.61812646e+01] [ 8.44530261e-02 1.06477825e-03 9.96426893e-01 1.58937248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:66.20, Z:15.90 [[ 7.98556053e-01 -5.98113843e-01 -6.75874315e-02 1.73602343e+02] [ 5.95965444e-01 8.01411133e-01 -5.06496424e-02 6.62049324e+01] [ 8.44595723e-02 1.66804881e-04 9.96426893e-01 1.59001170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:66.23, Z:15.90 [[ 7.94753622e-01 -6.03159329e-01 -6.75685181e-02 1.73653386e+02] [ 6.01026911e-01 7.97620656e-01 -5.06748611e-02 6.62341357e+01] [ 8.44590609e-02 -3.36468378e-04 9.96426893e-01 1.59044564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:66.27, Z:15.91 [[ 7.95277320e-01 -6.02470522e-01 -6.75518704e-02 1.73702369e+02] [ 6.00333736e-01 7.98141100e-01 -5.06970436e-02 6.62656694e+01] [ 8.44593984e-02 -2.35457723e-04 9.96426894e-01 1.59073625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:66.30, Z:15.92 [[ 8.00237212e-01 -5.95867383e-01 -6.75460277e-02 1.73748852e+02] [ 5.93706310e-01 8.03082709e-01 -5.07048268e-02 6.63007070e+01] [ 8.44583994e-02 4.73386381e-04 9.96426894e-01 1.59170580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:66.34, Z:15.93 [[ 8.01987474e-01 -5.93511523e-01 -6.75289898e-02 1.73794989e+02] [ 5.91340182e-01 8.04825142e-01 -5.07275080e-02 6.63363885e+01] [ 8.44563893e-02 7.50220925e-04 9.96426894e-01 1.59292496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:66.37, Z:15.94 [[ 8.04177014e-01 -5.90543390e-01 -6.75117392e-02 1.73842807e+02] [ 5.88359650e-01 8.07005151e-01 -5.07504560e-02 6.63693547e+01] [ 8.44526676e-02 1.09116684e-03 9.96426895e-01 1.59380397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:173.89, Y:66.41, Z:15.95 [[ 8.04521947e-01 -5.90075359e-01 -6.74945074e-02 1.73887663e+02] [ 5.87888052e-01 8.07347326e-01 -5.07733627e-02 6.64058406e+01] [ 8.44516203e-02 1.16907011e-03 9.96426895e-01 1.59462813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:66.44, Z:15.95 [[ 7.98292496e-01 -5.98478283e-01 -6.74747034e-02 1.73936955e+02] [ 5.96318496e-01 8.01138967e-01 -5.07996675e-02 6.64359136e+01] [ 8.44591120e-02 3.16579648e-04 9.96426896e-01 1.59516253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:66.47, Z:15.95 [[ 7.81071448e-01 -6.20787592e-01 -6.74548659e-02 1.73983338e+02] [ 6.18706795e-01 7.83976160e-01 -5.08259954e-02 6.64715803e+01] [ 8.44351541e-02 -2.03605006e-03 9.96426896e-01 1.59544825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:66.51, Z:15.96 [[ 7.71211794e-01 -6.32996480e-01 -6.74375659e-02 1.74029338e+02] [ 6.30959627e-01 7.74147489e-01 -5.08489392e-02 6.65056336e+01] [ 8.43938218e-02 -3.33507982e-03 9.96426897e-01 1.59579329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.07, Y:66.55, Z:15.96 [[ 7.65679944e-01 -6.39677674e-01 -6.74291901e-02 1.74068970e+02] [ 6.37665448e-01 7.68632573e-01 -5.08600438e-02 6.65497775e+01] [ 8.43623064e-02 -4.05474927e-03 9.96426897e-01 1.59629947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.11, Y:66.59, Z:15.96 [[ 7.64777718e-01 -6.40757842e-01 -6.74123865e-02 1.74109318e+02] [ 6.38747831e-01 7.67731854e-01 -5.08823064e-02 6.65920744e+01] [ 8.43578733e-02 -4.14586153e-03 9.96426897e-01 1.59629185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:66.64, Z:15.97 [[ 7.62325697e-01 -6.43674029e-01 -6.74038324e-02 1.74148538e+02] [ 6.41674318e-01 7.65286814e-01 -5.08936355e-02 6.66371716e+01] [ 8.43421756e-02 -4.45378207e-03 9.96426897e-01 1.59691408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:174.18, Y:66.69, Z:15.98 [[ 7.59896950e-01 -6.46541275e-01 -6.73869875e-02 1.74183406e+02] [ 6.44550765e-01 7.62864260e-01 -5.09159297e-02 6.66872257e+01] [ 8.43263745e-02 -4.74347464e-03 9.96426897e-01 1.59822778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:66.74, Z:15.99 [[ 7.65093033e-01 -6.40385746e-01 -6.73702306e-02 1.74218786e+02] [ 6.38369402e-01 7.68042849e-01 -5.09380922e-02 6.67371957e+01] [ 8.43632520e-02 -4.03471434e-03 9.96426898e-01 1.59864660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:174.25, Y:66.79, Z:15.99 [[ 7.75020713e-01 -6.28336190e-01 -6.73537468e-02 1.74253153e+02] [ 6.26272047e-01 7.77937281e-01 -5.09598789e-02 6.67881822e+01] [ 8.44169269e-02 -2.68680722e-03 9.96426898e-01 1.59912999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777105681 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:66.84, Z:16.00 [[ 7.91109060e-01 -6.07957427e-01 -6.73366387e-02 1.74284885e+02] [ 6.05816170e-01 7.93969493e-01 -5.09824750e-02 6.68417517e+01] [ 8.44584112e-02 -4.60926724e-04 9.96426899e-01 1.59987159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837105681 meters Centerline goodness : 0.997766 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:66.89, Z:16.00 [[ 8.01789293e-01 -5.93801741e-01 -6.73306942e-02 1.74320938e+02] [ 5.91609328e-01 8.04610707e-01 -5.09903245e-02 6.68901579e+01] [ 8.44531410e-02 1.05002952e-03 9.96426899e-01 1.60045125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897105681 meters Centerline goodness : 0.996763 with order 1 Centerline is valid? [True, True] Translation: X:174.36, Y:66.93, Z:16.01 [[ 8.06416420e-01 -5.87504678e-01 -6.73112964e-02 1.74363167e+02] [ 5.85288102e-01 8.09218891e-01 -5.10159184e-02 6.69313622e+01] [ 8.44416633e-02 1.74357331e-03 9.96426899e-01 1.60056541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957105681 meters Centerline goodness : 0.996728 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:66.97, Z:16.01 [[ 8.10140670e-01 -5.82360414e-01 -6.72937095e-02 1.74406402e+02] [ 5.80124123e-01 8.12927433e-01 -5.10391064e-02 6.69694613e+01] [ 8.44280576e-02 2.31015167e-03 9.96426900e-01 1.60108888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017105681 meters Centerline goodness : 0.997018 with order 1 Centerline is valid? [True, True] Translation: X:174.46, Y:67.00, Z:16.01 [[ 8.08787101e-01 -5.84239514e-01 -6.72875541e-02 1.74456548e+02] [ 5.82009024e-01 8.11578509e-01 -5.10472201e-02 6.70005476e+01] [ 8.44329359e-02 2.12436945e-03 9.96426900e-01 1.60088576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077105681 meters Centerline goodness : 0.997192 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:67.03, Z:16.01 [[ 8.09248579e-01 -5.83602423e-01 -6.72677402e-02 1.74508597e+02] [ 5.81367568e-01 8.12036493e-01 -5.10733167e-02 6.70279107e+01] [ 8.44303712e-02 2.22372640e-03 9.96426900e-01 1.60118600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137105681 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:174.56, Y:67.06, Z:16.02 [[ 8.10217636e-01 -5.82257015e-01 -6.72618134e-02 1.74560857e+02] [ 5.80016884e-01 8.13001312e-01 -5.10811209e-02 6.70562018e+01] [ 8.44262835e-02 2.37383760e-03 9.96426900e-01 1.60155020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197105681 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:174.61, Y:67.08, Z:16.03 [[ 8.03104466e-01 -5.92031387e-01 -6.72462204e-02 1.74614237e+02] [ 5.89823431e-01 8.05913731e-01 -5.11016402e-02 6.70810335e+01] [ 8.44484273e-02 1.37655905e-03 9.96426901e-01 1.60286688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:174.67, Y:67.11, Z:16.04 [[ 7.98164814e-01 -5.98675356e-01 -6.72365108e-02 1.74668093e+02] [ 5.96489712e-01 8.00991473e-01 -5.11144123e-02 6.71056726e+01] [ 8.44568108e-02 6.91838409e-04 9.96426901e-01 1.60422978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:174.72, Y:67.13, Z:16.05 [[ 7.92033669e-01 -6.06765444e-01 -6.72187679e-02 1.74720092e+02] [ 6.04606695e-01 7.94880920e-01 -5.11377349e-02 6.71305927e+01] [ 8.44595265e-02 -1.38109285e-04 9.96426901e-01 1.60464101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377105681 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:67.16, Z:16.05 [[ 7.83044414e-01 -6.18323737e-01 -6.72101278e-02 1.74772620e+02] [ 6.16206032e-01 7.85922323e-01 -5.11490880e-02 6.71565066e+01] [ 8.44486350e-02 -1.36327849e-03 9.96426901e-01 1.60513280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437105681 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:67.19, Z:16.06 [[ 7.79972837e-01 -6.22195961e-01 -6.71904692e-02 1.74821876e+02] [ 6.20090319e-01 7.82859583e-01 -5.11748989e-02 6.71888021e+01] [ 8.44415181e-02 -1.74912834e-03 9.96426902e-01 1.60566765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497105681 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:67.23, Z:16.06 [[ 7.85142113e-01 -6.15661931e-01 -6.71732734e-02 1.74865554e+02] [ 6.13530329e-01 7.88009743e-01 -5.11974606e-02 6.72258471e+01] [ 8.44535214e-02 -1.01555810e-03 9.96426902e-01 1.60615751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557105681 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:174.91, Y:67.26, Z:16.08 [[ 7.95163777e-01 -6.02663362e-01 -6.71672504e-02 1.74909035e+02] [ 6.00484209e-01 7.97995442e-01 -5.12053612e-02 6.72633122e+01] [ 8.44587548e-02 3.83775230e-04 9.96426902e-01 1.60762946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617105681 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:174.95, Y:67.30, Z:16.08 [[ 8.03187949e-01 -5.91929018e-01 -6.71502462e-02 1.74950185e+02] [ 5.89710167e-01 8.05988614e-01 -5.12276507e-02 6.73042081e+01] [ 8.44454669e-02 1.54624881e-03 9.96426903e-01 1.60841510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677105681 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:67.34, Z:16.08 [[ 8.10507358e-01 -5.81867223e-01 -6.71442974e-02 1.74997119e+02] [ 5.79612976e-01 8.13279612e-01 -5.12354466e-02 6.73372889e+01] [ 8.44193152e-02 2.60900042e-03 9.96426903e-01 1.60849681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737105681 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:175.04, Y:67.37, Z:16.09 [[ 8.12338278e-01 -5.79309303e-01 -6.71360887e-02 1.75043164e+02] [ 5.77045440e-01 8.15102685e-01 -5.12462006e-02 6.73724641e+01] [ 8.44102069e-02 2.88867650e-03 9.96426903e-01 1.60894114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797105681 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:175.09, Y:67.40, Z:16.09 [[ 8.10124859e-01 -5.82402746e-01 -6.71174612e-02 1.75094053e+02] [ 5.80147424e-01 8.12896238e-01 -5.12705856e-02 6.74013041e+01] [ 8.44196616e-02 2.59755370e-03 9.96426903e-01 1.60936561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857105681 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:67.43, Z:16.10 [[ 8.05786940e-01 -5.88392101e-01 -6.70980115e-02 1.75145511e+02] [ 5.86155267e-01 8.08573262e-01 -5.12960270e-02 6.74298160e+01] [ 8.44358351e-02 2.00381580e-03 9.96426904e-01 1.60976128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917105681 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:67.46, Z:16.10 [[ 8.00111631e-01 -5.96088816e-01 -6.70783193e-02 1.75192175e+02] [ 5.93876636e-01 8.02917566e-01 -5.13217650e-02 6.74636203e+01] [ 8.44506910e-02 1.22689455e-03 9.96426904e-01 1.61016427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:67.49, Z:16.11 [[ 7.92593887e-01 -6.06051237e-01 -6.70583891e-02 1.75241232e+02] [ 6.03872129e-01 7.95425582e-01 -5.13477933e-02 6.74938295e+01] [ 8.44593518e-02 2.03254937e-04 9.96426905e-01 1.61053793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:67.53, Z:16.11 [[ 7.87060222e-01 -6.13221421e-01 -6.70499566e-02 1.75288582e+02] [ 6.11067170e-01 7.89910873e-01 -5.13588020e-02 6.75269330e+01] [ 8.44578073e-02 -5.49557136e-04 9.96426905e-01 1.61121692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:175.34, Y:67.56, Z:16.11 [[ 7.89406561e-01 -6.10200133e-01 -6.70304253e-02 1.75335816e+02] [ 6.08032808e-01 7.92247284e-01 -5.13842806e-02 6.75614749e+01] [ 8.44593673e-02 -1.93609463e-04 9.96426905e-01 1.61136213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:67.60, Z:16.12 [[ 7.87537968e-01 -6.12611837e-01 -6.70125749e-02 1.75383525e+02] [ 6.10451231e-01 7.90383804e-01 -5.14075496e-02 6.75954878e+01] [ 8.44585273e-02 -4.22511732e-04 9.96426906e-01 1.61172746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:67.63, Z:16.13 [[ 7.82473748e-01 -6.19069285e-01 -6.69929390e-02 1.75428196e+02] [ 6.16929972e-01 7.85335625e-01 -5.14331259e-02 6.76312963e+01] [ 8.44526101e-02 -1.08488123e-03 9.96426906e-01 1.61252703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:67.67, Z:16.13 [[ 7.78838545e-01 -6.23638602e-01 -6.69732368e-02 1.75471749e+02] [ 6.21513872e-01 7.81711265e-01 -5.14587682e-02 6.76693465e+01] [ 8.44454080e-02 -1.54672356e-03 9.96426907e-01 1.61332532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:67.71, Z:16.14 [[ 7.76277571e-01 -6.26825619e-01 -6.69535391e-02 1.75515014e+02] [ 6.24710474e-01 7.79157354e-01 -5.14843845e-02 6.77084579e+01] [ 8.44390735e-02 -1.86040422e-03 9.96426907e-01 1.61375365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:67.75, Z:16.14 [[ 7.72798010e-01 -6.31112454e-01 -6.69350875e-02 1.75556638e+02] [ 6.29011205e-01 7.75687948e-01 -5.15083623e-02 6.77502176e+01] [ 8.44283096e-02 -2.29736014e-03 9.96426908e-01 1.61351370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:67.79, Z:16.13 [[ 7.71549517e-01 -6.32640256e-01 -6.69152414e-02 1.75597507e+02] [ 6.30542497e-01 7.74441988e-01 -5.15341319e-02 6.77925618e+01] [ 8.44245390e-02 -2.43176880e-03 9.96426908e-01 1.61324568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:67.84, Z:16.14 [[ 7.59562822e-01 -6.46984749e-01 -6.68958539e-02 1.75635946e+02] [ 6.44939342e-01 7.62492547e-01 -5.15592864e-02 6.78380318e+01] [ 8.43656620e-02 -3.98125095e-03 9.96426909e-01 1.61413743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:175.68, Y:67.88, Z:16.14 [[ 7.54181503e-01 -6.53251570e-01 -6.68778547e-02 1.75676615e+02] [ 6.51228432e-01 7.57126649e-01 -5.15826227e-02 6.78801219e+01] [ 8.43314353e-02 -4.65010051e-03 9.96426909e-01 1.61397363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:67.92, Z:16.14 [[ 7.49292397e-01 -6.58854370e-01 -6.68716835e-02 1.75714839e+02] [ 6.56852529e-01 7.52252061e-01 -5.15906219e-02 6.79246278e+01] [ 8.42950684e-02 -5.26837364e-03 9.96426909e-01 1.61436895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697105681 meters Centerline goodness : 0.998645 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:67.97, Z:16.15 [[ 7.45754889e-01 -6.62857685e-01 -6.68530800e-02 1.75748662e+02] [ 6.60869578e-01 7.48723795e-01 -5.16147178e-02 6.79733891e+01] [ 8.42677041e-02 -5.68923860e-03 9.96426910e-01 1.61450818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:175.78, Y:68.02, Z:16.15 [[ 7.44977136e-01 -6.63732467e-01 -6.68451902e-02 1.75782357e+02] [ 6.61746936e-01 7.47947765e-01 -5.16249338e-02 6.80246269e+01] [ 8.42618552e-02 -5.77520448e-03 9.96426910e-01 1.61455732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:68.08, Z:16.16 [[ 7.38826569e-01 -6.70572703e-01 -6.68397441e-02 1.75813539e+02] [ 6.68614013e-01 7.41814964e-01 -5.16319839e-02 6.80774394e+01] [ 8.42057214e-02 -6.54290806e-03 9.96426910e-01 1.61637182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877105681 meters Centerline goodness : 0.997382 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:68.13, Z:16.17 [[ 7.40302793e-01 -6.68944240e-01 -6.68234889e-02 1.75844549e+02] [ 6.66977093e-01 7.43285627e-01 -5.16530134e-02 6.81302891e+01] [ 8.42219246e-02 -6.33086626e-03 9.96426910e-01 1.61693258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937105681 meters Centerline goodness : 0.995994 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:68.18, Z:16.17 [[ 7.46935986e-01 -6.61530747e-01 -6.68109536e-02 1.75874732e+02] [ 6.59532520e-01 7.49898090e-01 -5.16692221e-02 6.81837787e+01] [ 8.42821856e-02 -5.47039521e-03 9.96426911e-01 1.61727440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997105681 meters Centerline goodness : 0.994547 with order 1 Centerline is valid? [True, True] Translation: X:175.91, Y:68.24, Z:16.18 [[ 7.60162222e-01 -6.46289970e-01 -6.68032225e-02 1.75906630e+02] [ 6.44231373e-01 7.63082693e-01 -5.16792157e-02 6.82362973e+01] [ 8.43761417e-02 -3.75214430e-03 9.96426911e-01 1.61768463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057105681 meters Centerline goodness : 0.994791 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:68.29, Z:16.18 [[ 7.80659828e-01 -6.21377517e-01 -6.67848392e-02 1.75936538e+02] [ 6.19223551e-01 7.83510687e-01 -5.17029615e-02 6.82915168e+01] [ 8.44536931e-02 -9.92320273e-04 9.96426911e-01 1.61810228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117105681 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:68.34, Z:16.18 [[ 7.91306862e-01 -6.07762282e-01 -6.67716893e-02 1.75972468e+02] [ 6.05557826e-01 7.94118862e-01 -5.17199384e-02 6.83392731e+01] [ 8.44580857e-02 4.92223147e-04 9.96426911e-01 1.61823620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177105681 meters Centerline goodness : 0.996957 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:68.38, Z:16.18 [[ 7.94115898e-01 -6.04089727e-01 -6.67498471e-02 1.76015437e+02] [ 6.01869900e-01 7.96915777e-01 -5.17481128e-02 6.83783313e+01] [ 8.44545096e-02 9.19275233e-04 9.96426912e-01 1.61816900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237105681 meters Centerline goodness : 0.996490 with order 1 Centerline is valid? [True, True] Translation: X:176.06, Y:68.42, Z:16.19 [[ 7.90881634e-01 -6.08320009e-01 -6.67308611e-02 1.76059835e+02] [ 6.06113094e-01 7.93691701e-01 -5.17725843e-02 6.84154089e+01] [ 8.44580296e-02 4.99537325e-04 9.96426912e-01 1.61872470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297105681 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:176.10, Y:68.45, Z:16.19 [[ 7.87082783e-01 -6.13229303e-01 -6.67121804e-02 1.76103848e+02] [ 6.11037876e-01 7.89904945e-01 -5.17966445e-02 6.84521943e+01] [ 8.44595013e-02 4.57809934e-06 9.96426913e-01 1.61923362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357105681 meters Centerline goodness : 0.997078 with order 1 Centerline is valid? [True, True] Translation: X:176.15, Y:68.48, Z:16.19 [[ 7.85132922e-01 -6.15725869e-01 -6.66929540e-02 1.76152320e+02] [ 6.13541313e-01 7.87960406e-01 -5.18213885e-02 6.84848518e+01] [ 8.44591765e-02 -2.32204418e-04 9.96426913e-01 1.61924379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417105681 meters Centerline goodness : 0.996750 with order 1 Centerline is valid? [True, True] Translation: X:176.20, Y:68.52, Z:16.20 [[ 7.81230034e-01 -6.20672530e-01 -6.66726650e-02 1.76199451e+02] [ 6.18503650e-01 7.84069559e-01 -5.18474790e-02 6.85176912e+01] [ 8.44563130e-02 -7.32478896e-04 9.96426914e-01 1.61970566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters Centerline goodness : 0.996605 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:68.55, Z:16.21 [[ 7.79472691e-01 -6.22878784e-01 -6.66659206e-02 1.76243189e+02] [ 6.20717199e-01 7.82317773e-01 -5.18561495e-02 6.85531964e+01] [ 8.44540299e-02 -9.60231118e-04 9.96426914e-01 1.62062129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters Centerline goodness : 0.996600 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:68.58, Z:16.20 [[ 7.79794145e-01 -6.22477133e-01 -6.66581615e-02 1.76295093e+02] [ 6.20313231e-01 7.82637465e-01 -5.18661214e-02 6.85809180e+01] [ 8.44546491e-02 -9.04041723e-04 9.96426914e-01 1.62038253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters Centerline goodness : 0.996275 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:68.62, Z:16.21 [[ 7.85512634e-01 -6.15247238e-01 -6.66388613e-02 1.76340481e+02] [ 6.13055060e-01 7.88334211e-01 -5.18909070e-02 6.86156648e+01] [ 8.44594314e-02 -9.23280871e-05 9.96426915e-01 1.62144292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657105681 meters Centerline goodness : 0.996284 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:68.65, Z:16.23 [[ 7.93841791e-01 -6.04462788e-01 -6.66329371e-02 1.76388925e+02] [ 6.02231644e-01 7.96632658e-01 -5.18985132e-02 6.86468161e+01] [ 8.44526938e-02 1.07074543e-03 9.96426915e-01 1.62256926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717105681 meters Centerline goodness : 0.995850 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:68.67, Z:16.23 [[ 8.01634965e-01 -5.94090930e-01 -6.66134318e-02 1.76439702e+02] [ 5.91821613e-01 8.04394881e-01 -5.19235369e-02 6.86747695e+01] [ 8.44308059e-02 2.20045400e-03 9.96426915e-01 1.62311518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777105681 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:68.70, Z:16.23 [[ 8.04954103e-01 -5.89588361e-01 -6.65917218e-02 1.76490071e+02] [ 5.87301311e-01 8.07699341e-01 -5.19513650e-02 6.87045312e+01] [ 8.44160100e-02 2.70905889e-03 9.96426916e-01 1.62322776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837105681 meters Centerline goodness : 0.994948 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:68.73, Z:16.23 [[ 8.07602801e-01 -5.85955717e-01 -6.65853830e-02 1.76544591e+02] [ 5.83655653e-01 8.10337146e-01 -5.19594881e-02 6.87298009e+01] [ 8.44025683e-02 3.09969294e-03 9.96426916e-01 1.62324956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897105681 meters Centerline goodness : 0.994311 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:68.76, Z:16.23 [[ 8.08127408e-01 -5.85234247e-01 -6.65655155e-02 1.76599695e+02] [ 5.82929652e-01 8.10857934e-01 -5.19849280e-02 6.87556904e+01] [ 8.43985366e-02 3.20743238e-03 9.96426916e-01 1.62317727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957105681 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:176.66, Y:68.78, Z:16.23 [[ 8.06400738e-01 -5.87613162e-01 -6.65478921e-02 1.76655174e+02] [ 5.85314765e-01 8.09136483e-01 -5.20074788e-02 6.87783575e+01] [ 8.44066064e-02 2.98740545e-03 9.96426917e-01 1.62341436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017105681 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:176.71, Y:68.80, Z:16.24 [[ 8.03652531e-01 -5.91368442e-01 -6.65280063e-02 1.76709416e+02] [ 5.89080730e-01 8.06397216e-01 -5.20329044e-02 6.88018988e+01] [ 8.44186166e-02 2.62600876e-03 9.96426917e-01 1.62397186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077105681 meters Centerline goodness : 0.995183 with order 1 Centerline is valid? [True, True] Translation: X:176.77, Y:68.81, Z:16.25 [[ 8.05364103e-01 -5.89037627e-01 -6.65081601e-02 1.76772524e+02] [ 5.86739883e-01 8.08100394e-01 -5.20582593e-02 6.88149602e+01] [ 8.44095440e-02 2.90286324e-03 9.96426918e-01 1.62452502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137105681 meters Centerline goodness : 0.996433 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:68.84, Z:16.25 [[ 8.02731457e-01 -5.92622428e-01 -6.64895874e-02 1.76827046e+02] [ 5.90334945e-01 8.05476332e-01 -5.20819700e-02 6.88388100e+01] [ 8.44207324e-02 2.55670872e-03 9.96426918e-01 1.62524112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197105681 meters Centerline goodness : 0.997143 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:68.86, Z:16.25 [[ 8.06524240e-01 -5.87452613e-01 -6.64686263e-02 1.76885169e+02] [ 5.85145342e-01 8.09252502e-01 -5.21087074e-02 6.88604014e+01] [ 8.44012985e-02 3.13312859e-03 9.96426919e-01 1.62504035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters Centerline goodness : 0.996662 with order 1 Centerline is valid? [True, True] Translation: X:176.94, Y:68.89, Z:16.26 [[ 8.09013212e-01 -5.84021998e-01 -6.64524563e-02 1.76937039e+02] [ 5.81701473e-01 8.11730208e-01 -5.21293205e-02 6.88878273e+01] [ 8.43861361e-02 3.51781727e-03 9.96426919e-01 1.62552839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters Centerline goodness : 0.997481 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:68.91, Z:16.26 [[ 8.12106113e-01 -5.79715809e-01 -6.64322364e-02 1.76991544e+02] [ 5.77378783e-01 8.14808928e-01 -5.21550755e-02 6.89121211e+01] [ 8.43647011e-02 3.99889187e-03 9.96426920e-01 1.62636026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377105681 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:68.94, Z:16.27 [[ 8.09515483e-01 -5.83330214e-01 -6.64119247e-02 1.77043570e+02] [ 5.81003144e-01 8.12226875e-01 -5.21809268e-02 6.89385517e+01] [ 8.43802613e-02 3.65573111e-03 9.96426920e-01 1.62708827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437105681 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:68.96, Z:16.27 [[ 8.02742431e-01 -5.92618572e-01 -6.63914059e-02 1.77098004e+02] [ 5.90320742e-01 8.05478646e-01 -5.22070205e-02 6.89629078e+01] [ 8.44157096e-02 2.71656662e-03 9.96426921e-01 1.62739364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497105681 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:68.99, Z:16.29 [[ 7.92455096e-01 -6.06308264e-01 -6.63717472e-02 1.77151046e+02] [ 6.04055641e-01 7.95228647e-01 -5.22320011e-02 6.89878699e+01] [ 8.44494086e-02 1.29928713e-03 9.96426921e-01 1.62856416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557105681 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:177.20, Y:69.02, Z:16.30 [[ 7.88149741e-01 -6.11895125e-01 -6.63652117e-02 1.77201256e+02] [ 6.09661466e-01 7.90938587e-01 -5.22403037e-02 6.90175467e+01] [ 8.44563939e-02 7.12869609e-04 9.96426921e-01 1.62950266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617105681 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:177.25, Y:69.05, Z:16.30 [[ 7.87441111e-01 -6.12808934e-01 -6.63453585e-02 1.77251691e+02] [ 6.10576388e-01 7.90230847e-01 -5.22655052e-02 6.90464803e+01] [ 8.44569174e-02 6.47098121e-04 9.96426922e-01 1.62975643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677105681 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:177.30, Y:69.08, Z:16.30 [[ 7.88196322e-01 -6.11839433e-01 -6.63254532e-02 1.77300822e+02] [ 6.09601331e-01 7.90981602e-01 -5.22907531e-02 6.90771226e+01] [ 8.44557580e-02 7.83294803e-04 9.96426922e-01 1.63015612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:69.11, Z:16.31 [[ 7.87400825e-01 -6.12863511e-01 -6.63193595e-02 1.77349035e+02] [ 6.10628380e-01 7.90188490e-01 -5.22984805e-02 6.91092407e+01] [ 8.44566249e-02 6.83383671e-04 9.96426922e-01 1.63110939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:69.14, Z:16.32 [[ 7.89849832e-01 -6.09706273e-01 -6.62986003e-02 1.77397028e+02] [ 6.07457792e-01 7.92626739e-01 -5.23247837e-02 6.91407830e+01] [ 8.44527922e-02 1.05512026e-03 9.96426923e-01 1.63211774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:69.18, Z:16.33 [[ 7.97377786e-01 -5.99829862e-01 -6.62782225e-02 1.77440904e+02] [ 5.97544856e-01 8.00124716e-01 -5.23505830e-02 6.91773989e+01] [ 8.44322869e-02 2.13898097e-03 9.96426923e-01 1.63308441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:69.21, Z:16.33 [[ 8.06599649e-01 -5.87371655e-01 -6.62687397e-02 1.77487546e+02] [ 5.85043273e-01 8.09309909e-01 -5.23625843e-02 6.92124280e+01] [ 8.43882454e-02 3.46556174e-03 9.96426924e-01 1.63316944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:69.25, Z:16.33 [[ 8.08583860e-01 -5.84639106e-01 -6.62514761e-02 1.77536258e+02] [ 5.82299783e-01 8.11284682e-01 -5.23844178e-02 6.92453940e+01] [ 8.43747869e-02 3.77897456e-03 9.96426924e-01 1.63314130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:177.59, Y:69.27, Z:16.33 [[ 8.10047676e-01 -5.82611602e-01 -6.62305319e-02 1.77589320e+02] [ 5.80263364e-01 8.12740750e-01 -5.24108847e-02 6.92733163e+01] [ 8.43634417e-02 4.02416414e-03 9.96426924e-01 1.63273604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:69.29, Z:16.33 [[ 8.06496183e-01 -5.87520001e-01 -6.62129479e-02 1.77645764e+02] [ 5.85186343e-01 8.09201900e-01 -5.24330900e-02 6.92949435e+01] [ 8.43851323e-02 3.54017417e-03 9.96426925e-01 1.63302585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:69.32, Z:16.34 [[ 7.99647779e-01 -5.96809799e-01 -6.61928562e-02 1.77699779e+02] [ 5.94505499e-01 8.02378541e-01 -5.24584420e-02 6.93188714e+01] [ 8.44194396e-02 2.59625965e-03 9.96426925e-01 1.63376706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:69.35, Z:16.34 [[ 7.94474765e-01 -6.03679688e-01 -6.61867212e-02 1.77751036e+02] [ 6.01398366e-01 7.97224752e-01 -5.24661814e-02 6.93478146e+01] [ 8.44384604e-02 1.87847119e-03 9.96426925e-01 1.63383935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:69.38, Z:16.35 [[ 7.89261110e-01 -6.10482473e-01 -6.61668344e-02 1.77802095e+02] [ 6.08222758e-01 7.92028879e-01 -5.24912494e-02 6.93755402e+01] [ 8.44510314e-02 1.18512727e-03 9.96426926e-01 1.63463319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.85, Y:69.41, Z:16.35 [[ 7.87773366e-01 -6.12403284e-01 -6.61463678e-02 1.77847516e+02] [ 6.10148153e-01 7.90544871e-01 -5.25170275e-02 6.94087691e+01] [ 8.44532720e-02 1.01243136e-03 9.96426927e-01 1.63518670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:69.44, Z:16.36 [[ 7.90169792e-01 -6.09309051e-01 -6.61375855e-02 1.77894028e+02] [ 6.07042143e-01 7.92931672e-01 -5.25280854e-02 6.94438018e+01] [ 8.44484241e-02 1.35780473e-03 9.96426927e-01 1.63625287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:69.48, Z:16.38 [[ 7.93447910e-01 -6.05036040e-01 -6.61196234e-02 1.77937846e+02] [ 6.02752379e-01 7.96195953e-01 -5.25506854e-02 6.94797149e+01] [ 8.44392352e-02 1.84247126e-03 9.96426927e-01 1.63788738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:69.51, Z:16.39 [[ 7.97147572e-01 -6.00155457e-01 -6.60997470e-02 1.77982728e+02] [ 5.97852905e-01 7.99879805e-01 -5.25756747e-02 6.95145732e+01] [ 8.44254308e-02 2.39264566e-03 9.96426928e-01 1.63882823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.03, Y:69.55, Z:16.39 [[ 8.02173142e-01 -5.93422171e-01 -6.60936993e-02 1.78031565e+02] [ 5.91096070e-01 8.04885355e-01 -5.25832762e-02 6.95474388e+01] [ 8.44019326e-02 3.11316597e-03 9.96426928e-01 1.63869704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.08, Y:69.58, Z:16.38 [[ 8.10535642e-01 -5.81950159e-01 -6.60756063e-02 1.78076904e+02] [ 5.79583864e-01 8.13212859e-01 -5.26060020e-02 6.95840279e+01] [ 8.43476039e-02 4.34268433e-03 9.96426928e-01 1.63800850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:69.61, Z:16.38 [[ 8.12655895e-01 -5.78986393e-01 -6.60693083e-02 1.78127135e+02] [ 5.76609697e-01 8.15323883e-01 -5.26139107e-02 6.96148885e+01] [ 8.43306233e-02 4.66080086e-03 9.96426928e-01 1.63808802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:69.65, Z:16.38 [[ 8.10157444e-01 -5.82479535e-01 -6.60492704e-02 1.78174684e+02] [ 5.80112306e-01 8.12833835e-01 -5.26390535e-02 6.96480216e+01] [ 8.43482531e-02 4.32992650e-03 9.96426929e-01 1.63846089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:69.68, Z:16.39 [[ 8.07595070e-01 -5.86029336e-01 -6.60289417e-02 1.78225160e+02] [ 5.83671798e-01 8.10280000e-01 -5.26645409e-02 6.96779094e+01] [ 8.43648968e-02 3.99239246e-03 9.96426929e-01 1.63910998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:178.27, Y:69.71, Z:16.39 [[ 8.03966381e-01 -5.90999936e-01 -6.60085963e-02 1.78273431e+02] [ 5.88656918e-01 8.06663991e-01 -5.26900291e-02 6.97087381e+01] [ 8.43865615e-02 3.50459509e-03 9.96426930e-01 1.63934362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:69.74, Z:16.40 [[ 7.94721360e-01 -6.03375479e-01 -6.59999269e-02 1.78322789e+02] [ 6.01073604e-01 7.97454161e-01 -5.27008862e-02 6.97391700e+01] [ 8.44303389e-02 2.21170607e-03 9.96426930e-01 1.63979495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:69.77, Z:16.40 [[ 7.83543503e-01 -6.17823802e-01 -6.59797596e-02 1.78371980e+02] [ 6.15570218e-01 7.86316261e-01 -5.27261230e-02 6.97701656e+01] [ 8.44564117e-02 6.98036091e-04 9.96426930e-01 1.64024182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.42, Y:69.81, Z:16.42 [[ 7.73271423e-01 -6.30635121e-01 -6.59594583e-02 1.78418272e+02] [ 6.28425309e-01 7.76079190e-01 -5.27515074e-02 6.98053532e+01] [ 8.44567163e-02 -6.59359784e-04 9.96426931e-01 1.64167835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.46, Y:69.84, Z:16.43 [[ 7.66571602e-01 -6.38764188e-01 -6.59415806e-02 1.78460047e+02] [ 6.36582223e-01 7.69401063e-01 -5.27738459e-02 6.98424178e+01] [ 8.44455650e-02 -1.52230635e-03 9.96426931e-01 1.64287617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:69.88, Z:16.43 [[ 7.65876547e-01 -6.39598291e-01 -6.59328505e-02 1.78503504e+02] [ 6.37418469e-01 7.68707659e-01 -5.27847505e-02 6.98799722e+01] [ 8.44441234e-02 -1.60021419e-03 9.96426931e-01 1.64347195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:69.93, Z:16.43 [[ 7.71009590e-01 -6.33403253e-01 -6.59130573e-02 1.78537096e+02] [ 6.31198566e-01 7.73821382e-01 -5.28094552e-02 6.99302841e+01] [ 8.44546138e-02 -8.87630831e-04 9.96426932e-01 1.64331736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.57, Y:69.98, Z:16.43 [[ 7.75929465e-01 -6.27368060e-01 -6.58997961e-02 1.78574954e+02] [ 6.25140096e-01 7.78722848e-01 -5.28259984e-02 6.99782978e+01] [ 8.44590210e-02 -2.07356183e-04 9.96426932e-01 1.64250710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.61, Y:70.03, Z:16.43 [[ 7.80883784e-01 -6.21192367e-01 -6.58829146e-02 1.78611474e+02] [ 6.18940536e-01 7.83657963e-01 -5.28470441e-02 7.00251739e+01] [ 8.44578511e-02 4.89793360e-04 9.96426932e-01 1.64305728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:70.07, Z:16.45 [[ 7.91252312e-01 -6.07932453e-01 -6.58628244e-02 1.78648957e+02] [ 6.05632067e-01 7.93986362e-01 -5.28720706e-02 7.00697223e+01] [ 8.44368319e-02 1.94650966e-03 9.96426933e-01 1.64481672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.69, Y:70.11, Z:16.46 [[ 7.97999065e-01 -5.99049944e-01 -6.58533047e-02 1.78688214e+02] [ 5.96718164e-01 8.00706390e-01 -5.28839249e-02 7.01126890e+01] [ 8.44092741e-02 2.90545953e-03 9.96426933e-01 1.64557417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.73, Y:70.15, Z:16.46 [[ 7.99240670e-01 -5.97394649e-01 -6.58330102e-02 1.78732914e+02] [ 5.95055187e-01 8.01941359e-01 -5.29091767e-02 7.01496953e+01] [ 8.44018727e-02 3.11289164e-03 9.96426934e-01 1.64554460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:70.18, Z:16.46 [[ 8.01112033e-01 -5.94885009e-01 -6.58128964e-02 1.78780611e+02] [ 5.92535039e-01 8.03803583e-01 -5.29341842e-02 7.01843684e+01] [ 8.43903946e-02 3.40976480e-03 9.96426934e-01 1.64578260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.83, Y:70.22, Z:16.46 [[ 8.03510642e-01 -5.91643148e-01 -6.57953924e-02 1.78827263e+02] [ 5.89280546e-01 8.06191111e-01 -5.29559322e-02 7.02208157e+01] [ 8.43746749e-02 3.77871033e-03 9.96426934e-01 1.64579677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.88, Y:70.25, Z:16.46 [[ 8.05887635e-01 -5.88403261e-01 -6.57778232e-02 1.78875267e+02] [ 5.86028113e-01 8.08556992e-01 -5.29777463e-02 7.02534137e+01] [ 8.43573976e-02 4.14645705e-03 9.96426935e-01 1.64601728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:70.28, Z:16.47 [[ 8.00893981e-01 -5.95183402e-01 -6.57688984e-02 1.78926074e+02] [ 5.92829959e-01 8.03582494e-01 -5.29888237e-02 7.02828746e+01] [ 8.43888038e-02 3.44865662e-03 9.96426935e-01 1.64672931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:178.98, Y:70.31, Z:16.47 [[ 7.92817825e-01 -6.05901444e-01 -6.57520818e-02 1.78976641e+02] [ 6.03582645e-01 7.95536274e-01 -5.30096827e-02 7.03126015e+01] [ 8.44268095e-02 2.34020584e-03 9.96426935e-01 1.64745272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.03, Y:70.34, Z:16.48 [[ 7.85123725e-01 -6.15840562e-01 -6.57353787e-02 1.79028169e+02] [ 6.13554458e-01 7.87869726e-01 -5.30303876e-02 7.03421802e+01] [ 8.44491784e-02 1.30318073e-03 9.96426936e-01 1.64818824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:70.37, Z:16.48 [[ 7.79836635e-01 -6.22523832e-01 -6.57183481e-02 1.79078759e+02] [ 6.20259488e-01 7.82600605e-01 -5.30514846e-02 7.03723593e+01] [ 8.44570325e-02 6.09062263e-04 9.96426936e-01 1.64823536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.13, Y:70.40, Z:16.49 [[ 7.79427738e-01 -6.23036342e-01 -6.57123910e-02 1.79127945e+02] [ 6.20773194e-01 7.82192687e-01 -5.30588624e-02 7.04024277e+01] [ 8.44573512e-02 5.63058260e-04 9.96426936e-01 1.64922614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:70.44, Z:16.51 [[ 7.82732436e-01 -6.18881717e-01 -6.56913520e-02 1.79173657e+02] [ 6.16601709e-01 7.85483498e-01 -5.30848977e-02 7.04382091e+01] [ 8.44527456e-02 1.04587137e-03 9.96426937e-01 1.65060176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.22, Y:70.47, Z:16.51 [[ 7.88919740e-01 -6.10976855e-01 -6.56728792e-02 1.79217269e+02] [ 6.08667388e-01 7.91646119e-01 -5.31077412e-02 7.04749652e+01] [ 8.44372806e-02 1.92480553e-03 9.96426937e-01 1.65147061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:179.26, Y:70.51, Z:16.51 [[ 7.91609467e-01 -6.07490136e-01 -6.56520033e-02 1.79261046e+02] [ 6.05166527e-01 7.94323802e-01 -5.31335355e-02 7.05129280e+01] [ 8.44270476e-02 2.33061492e-03 9.96426938e-01 1.65114704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:179.31, Y:70.55, Z:16.50 [[ 8.01185601e-01 -5.94804408e-01 -6.56456341e-02 1.79307498e+02] [ 5.92437217e-01 8.03862013e-01 -5.31414034e-02 7.05502349e+01] [ 8.43787726e-02 3.68521050e-03 9.96426938e-01 1.65049452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:70.58, Z:16.51 [[ 8.04517603e-01 -5.90291677e-01 -6.56289751e-02 1.79352948e+02] [ 5.87907808e-01 8.07179171e-01 -5.31619692e-02 7.05846069e+01] [ 8.43554097e-02 4.18595310e-03 9.96426938e-01 1.65116462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:179.40, Y:70.62, Z:16.51 [[ 8.05835481e-01 -5.88492162e-01 -6.56212905e-02 1.79400518e+02] [ 5.86101582e-01 8.08491022e-01 -5.31714531e-02 7.06180889e+01] [ 8.43452076e-02 4.38670127e-03 9.96426938e-01 1.65139352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:70.65, Z:16.52 [[ 8.01197514e-01 -5.94793290e-01 -6.56009532e-02 1.79454074e+02] [ 5.92421561e-01 8.03869904e-01 -5.31965327e-02 7.06458270e+01] [ 8.43755727e-02 3.75751062e-03 9.96426939e-01 1.65175171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:70.67, Z:16.52 [[ 7.94217655e-01 -6.04083752e-01 -6.55830567e-02 1.79504318e+02] [ 6.01741488e-01 7.96915907e-01 -5.32185872e-02 7.06749093e+01] [ 8.44126650e-02 2.80309540e-03 9.96426939e-01 1.65207010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:70.71, Z:16.52 [[ 7.91406769e-01 -6.07762635e-01 -6.55736579e-02 1.79553005e+02] [ 6.05431960e-01 7.94115037e-01 -5.32301655e-02 7.07081297e+01] [ 8.44243335e-02 2.42632511e-03 9.96426939e-01 1.65222224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:70.75, Z:16.53 [[ 7.89455688e-01 -6.10296659e-01 -6.55568787e-02 1.79596852e+02] [ 6.07972964e-01 7.92169947e-01 -5.32508224e-02 7.07458780e+01] [ 8.44309882e-02 2.18235476e-03 9.96426939e-01 1.65297719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.64, Y:70.78, Z:16.54 [[ 7.89691570e-01 -6.09992102e-01 -6.55504330e-02 1.79640080e+02] [ 6.07666702e-01 7.92404369e-01 -5.32587557e-02 7.07829794e+01] [ 8.44298699e-02 2.22517498e-03 9.96426939e-01 1.65380415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:70.82, Z:16.55 [[ 7.85407902e-01 -6.15498488e-01 -6.55441675e-02 1.79684946e+02] [ 6.13191469e-01 7.88136350e-01 -5.32664654e-02 7.08197603e+01] [ 8.44431699e-02 1.64477849e-03 9.96426940e-01 1.65528541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:179.73, Y:70.86, Z:16.56 [[ 7.74578437e-01 -6.29074447e-01 -6.55254604e-02 1.79728673e+02] [ 6.26813317e-01 7.77345032e-01 -5.32894680e-02 7.08552773e+01] [ 8.44589337e-02 2.04641640e-04 9.96426940e-01 1.65584484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.77, Y:70.90, Z:16.56 [[ 7.70477409e-01 -6.34091563e-01 -6.55168080e-02 1.79768300e+02] [ 6.31847544e-01 7.73257900e-01 -5.33001036e-02 7.08963048e+01] [ 8.44585354e-02 -3.30108462e-04 9.96426940e-01 1.65612762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:70.94, Z:16.56 [[ 7.72843188e-01 -6.31208011e-01 -6.54969761e-02 1.79807115e+02] [ 6.28951552e-01 7.75613594e-01 -5.33244627e-02 7.09412987e+01] [ 8.44591730e-02 1.70229788e-05 9.96426941e-01 1.65622238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:70.99, Z:16.56 [[ 7.81330623e-01 -6.20673269e-01 -6.54763380e-02 1.79843933e+02] [ 6.18377340e-01 7.84068406e-01 -5.33497918e-02 7.09898300e+01] [ 8.44507177e-02 1.19474234e-03 9.96426941e-01 1.65626020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.88, Y:71.03, Z:16.57 [[ 7.92425169e-01 -6.06446666e-01 -6.54583241e-02 1.79882158e+02] [ 6.04099795e-01 7.95119412e-01 -5.33718852e-02 7.10341923e+01] [ 8.44143860e-02 2.74986500e-03 9.96426941e-01 1.65702983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:71.07, Z:16.58 [[ 7.97576514e-01 -5.99656356e-01 -6.54519540e-02 1.79923941e+02] [ 5.97285920e-01 8.00250047e-01 -5.33796960e-02 7.10739177e+01] [ 8.43874033e-02 3.48086128e-03 9.96426942e-01 1.65789757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:71.11, Z:16.59 [[ 7.99600502e-01 -5.96957010e-01 -6.54321498e-02 1.79967164e+02] [ 5.94575571e-01 8.02264238e-01 -5.34039607e-02 7.11120211e+01] [ 8.43737425e-02 3.79747593e-03 9.96426942e-01 1.65884743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:71.15, Z:16.58 [[ 8.01213464e-01 -5.94792300e-01 -6.54148736e-02 1.80013040e+02] [ 5.92401945e-01 8.03869202e-01 -5.34251141e-02 7.11477999e+01] [ 8.43618487e-02 4.05302237e-03 9.96426942e-01 1.65849461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.06, Y:71.18, Z:16.58 [[ 7.99912087e-01 -5.96543441e-01 -6.53955367e-02 1.80063586e+02] [ 5.94156973e-01 8.02571317e-01 -5.34487732e-02 7.11807370e+01] [ 8.43690972e-02 3.89910555e-03 9.96426943e-01 1.65797888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.11, Y:71.21, Z:16.60 [[ 7.87333099e-01 -6.13051345e-01 -6.53807278e-02 1.80113872e+02] [ 6.10719199e-01 7.90040096e-01 -5.34668820e-02 7.12093557e+01] [ 8.44313404e-02 2.16698021e-03 9.96426943e-01 1.65979001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:71.24, Z:16.61 [[ 7.78619582e-01 -6.24081582e-01 -6.53737336e-02 1.80163655e+02] [ 6.21787083e-01 7.81358562e-01 -5.34754324e-02 7.12392038e+01] [ 8.44533589e-02 9.88475790e-04 9.96426943e-01 1.66072117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:71.27, Z:16.61 [[ 7.77662071e-01 -6.25276432e-01 -6.53535573e-02 1.80210491e+02] [ 6.22984070e-01 7.80402839e-01 -5.35000790e-02 7.12726327e+01] [ 8.44544402e-02 8.90757158e-04 9.96426944e-01 1.66130584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:180.25, Y:71.31, Z:16.61 [[ 7.81211019e-01 -6.20838927e-01 -6.53327678e-02 1.80254353e+02] [ 6.18528877e-01 7.83936894e-01 -5.35254546e-02 7.13117694e+01] [ 8.44474529e-02 1.40447143e-03 9.96426944e-01 1.66082252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:71.35, Z:16.60 [[ 7.86042526e-01 -6.14710993e-01 -6.53264334e-02 1.80298353e+02] [ 6.12379055e-01 7.88749701e-01 -5.35331845e-02 7.13518124e+01] [ 8.44336418e-02 2.07482000e-03 9.96426944e-01 1.66038098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:71.39, Z:16.62 [[ 7.92356310e-01 -6.06551386e-01 -6.53214636e-02 1.80341804e+02] [ 6.04191086e-01 7.95038792e-01 -5.35392480e-02 7.13904682e+01] [ 8.44074026e-02 2.95551496e-03 9.96426944e-01 1.66177036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.39, Y:71.43, Z:16.63 [[ 7.93959916e-01 -6.04452670e-01 -6.53040645e-02 1.80386890e+02] [ 6.02083539e-01 7.96634602e-01 -5.35604620e-02 7.14260109e+01] [ 8.43982417e-02 3.20635768e-03 9.96426945e-01 1.66331486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:71.46, Z:16.64 [[ 7.92807300e-01 -6.05965574e-01 -6.52863641e-02 1.80433746e+02] [ 6.03599775e-01 7.95484933e-01 -5.35820289e-02 7.14600521e+01] [ 8.44031838e-02 3.07338900e-03 9.96426945e-01 1.66424316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:71.49, Z:16.64 [[ 7.99749169e-01 -5.96775993e-01 -6.52662266e-02 1.80482514e+02] [ 5.94377458e-01 8.02397517e-01 -5.36065466e-02 7.14932148e+01] [ 8.43605582e-02 4.07901725e-03 9.96426946e-01 1.66413194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:71.52, Z:16.64 [[ 8.06777078e-01 -5.87242135e-01 -6.52489153e-02 1.80533165e+02] [ 5.84810644e-01 8.09395200e-01 -5.36276093e-02 7.15243441e+01] [ 8.43045507e-02 5.10726573e-03 9.96426946e-01 1.66396711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:71.55, Z:16.65 [[ 8.07947702e-01 -5.85632521e-01 -6.52308244e-02 1.80587434e+02] [ 5.83194050e-01 8.10559325e-01 -5.36496055e-02 7.15487126e+01] [ 8.42924067e-02 5.30384686e-03 9.96426946e-01 1.66479455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:71.57, Z:16.65 [[ 8.04913681e-01 -5.89796361e-01 -6.52243743e-02 1.80646154e+02] [ 5.87370776e-01 8.07537275e-01 -5.36574461e-02 7.15681706e+01] [ 8.43180799e-02 4.87872111e-03 9.96426946e-01 1.66539641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.70, Y:71.59, Z:16.66 [[ 7.98243260e-01 -5.98795496e-01 -6.52046883e-02 1.80698648e+02] [ 5.96397571e-01 8.00892158e-01 -5.36813579e-02 7.15946125e+01] [ 8.43660789e-02 3.96286441e-03 9.96426947e-01 1.66610854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:71.62, Z:16.67 [[ 7.90424546e-01 -6.09081205e-01 -6.51852982e-02 1.80750995e+02] [ 6.06715842e-01 7.93102561e-01 -5.37048930e-02 7.16218620e+01] [ 8.44092679e-02 2.90071259e-03 9.96426947e-01 1.66674874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.80, Y:71.65, Z:16.67 [[ 7.80598609e-01 -6.21626295e-01 -6.51656418e-02 1.80799183e+02] [ 6.19302011e-01 7.83312353e-01 -5.37287337e-02 7.16541705e+01] [ 8.44442459e-02 1.58336184e-03 9.96426948e-01 1.66707842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.85, Y:71.69, Z:16.68 [[ 7.78219914e-01 -6.24603810e-01 -6.51448161e-02 1.80845274e+02] [ 6.22287797e-01 7.80940720e-01 -5.37539726e-02 7.16885130e+01] [ 8.44491756e-02 1.29358781e-03 9.96426948e-01 1.66796893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:71.73, Z:16.68 [[ 7.85152695e-01 -6.15868571e-01 -6.51241054e-02 1.80889338e+02] [ 6.13520221e-01 7.87845640e-01 -5.37790524e-02 7.17256615e+01] [ 8.44285706e-02 2.26981237e-03 9.96426949e-01 1.66804068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.93, Y:71.76, Z:16.69 [[ 7.95625344e-01 -6.02279805e-01 -6.51102730e-02 1.80932506e+02] [ 5.99884142e-01 7.98276286e-01 -5.37957940e-02 7.17636827e+01] [ 8.43761073e-02 3.74267688e-03 9.96426949e-01 1.66924817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:71.80, Z:16.69 [[ 7.99693752e-01 -5.96869478e-01 -6.50901566e-02 1.80981605e+02] [ 5.94453918e-01 8.02326575e-01 -5.38201230e-02 7.17957927e+01] [ 8.43471512e-02 4.34651753e-03 9.96426950e-01 1.66862242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.03, Y:71.83, Z:16.69 [[ 7.97820248e-01 -5.99372340e-01 -6.50818724e-02 1.81030870e+02] [ 5.96964228e-01 8.00459884e-01 -5.38301388e-02 7.18274546e+01] [ 8.43597243e-02 4.09522490e-03 9.96426950e-01 1.66864300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.08, Y:71.86, Z:16.70 [[ 7.99192115e-01 -5.97543672e-01 -6.50655270e-02 1.81078761e+02] [ 5.95127920e-01 8.01824762e-01 -5.38498885e-02 7.18610438e+01] [ 8.43488108e-02 4.31409453e-03 9.96426950e-01 1.66978558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:71.89, Z:16.70 [[ 7.98787016e-01 -5.98087081e-01 -6.50472606e-02 1.81125920e+02] [ 5.95671332e-01 8.01419664e-01 -5.38719442e-02 7.18948880e+01] [ 8.43502677e-02 4.28542119e-03 9.96426950e-01 1.66973977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.17, Y:71.93, Z:16.71 [[ 7.97922204e-01 -5.99241037e-01 -6.50410269e-02 1.81172638e+02] [ 5.96828484e-01 8.00557782e-01 -5.38794693e-02 7.19291150e+01] [ 8.43558893e-02 4.17328734e-03 9.96426950e-01 1.67091130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717105681 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:181.22, Y:71.96, Z:16.71 [[ 7.92025590e-01 -6.07015243e-01 -6.50227672e-02 1.81220514e+02] [ 6.04626775e-01 7.94683014e-01 -5.39014965e-02 7.19610918e+01] [ 8.43915186e-02 3.37685851e-03 9.96426951e-01 1.67070997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:72.00, Z:16.71 [[ 7.84973820e-01 -6.16108176e-01 -6.50139724e-02 1.81266178e+02] [ 6.13749634e-01 7.87657839e-01 -5.39121024e-02 7.19963690e+01] [ 8.44244521e-02 2.41728723e-03 9.96426951e-01 1.67114581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:181.31, Y:72.03, Z:16.72 [[ 7.87678538e-01 -6.12648562e-01 -6.49943024e-02 1.81309862e+02] [ 6.10276281e-01 7.90350422e-01 -5.39358054e-02 7.20348533e+01] [ 8.44119679e-02 2.81959524e-03 9.96426951e-01 1.67165149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:72.08, Z:16.73 [[ 7.93579322e-01 -6.04987821e-01 -6.49738121e-02 1.81349581e+02] [ 6.02587749e-01 7.96226269e-01 -5.39604778e-02 7.20775544e+01] [ 8.43792879e-02 3.66949616e-03 9.96426952e-01 1.67260975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:181.39, Y:72.12, Z:16.73 [[ 7.96803072e-01 -6.00737781e-01 -6.49536991e-02 1.81392939e+02] [ 5.98321631e-01 7.99435351e-01 -5.39846776e-02 7.21156501e+01] [ 8.43569187e-02 4.15195373e-03 9.96426952e-01 1.67340998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:72.15, Z:16.73 [[ 7.96242968e-01 -6.01482153e-01 -6.49334761e-02 1.81436492e+02] [ 5.99066489e-01 7.98875692e-01 -5.40089913e-02 7.21542071e+01] [ 8.43592199e-02 4.10480995e-03 9.96426953e-01 1.67343793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:181.48, Y:72.19, Z:16.73 [[ 7.95203308e-01 -6.02858112e-01 -6.49137582e-02 1.81478939e+02] [ 6.00445077e-01 7.97838442e-01 -5.40326800e-02 7.21946689e+01] [ 8.43647311e-02 3.98981930e-03 9.96426953e-01 1.67331493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:72.23, Z:16.73 [[ 7.93647181e-01 -6.04907427e-01 -6.48934315e-02 1.81525305e+02] [ 6.02499210e-01 7.96286716e-01 -5.40570815e-02 7.22311398e+01] [ 8.43733075e-02 3.80400917e-03 9.96426954e-01 1.67313067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:72.27, Z:16.74 [[ 7.90812158e-01 -6.08610874e-01 -6.48763056e-02 1.81567611e+02] [ 6.06213341e-01 7.93461402e-01 -5.40776272e-02 7.22693179e+01] [ 8.43890763e-02 3.43636310e-03 9.96426954e-01 1.67392844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:72.30, Z:16.75 [[ 7.88933466e-01 -6.11046307e-01 -6.48567451e-02 1.81614465e+02] [ 6.08655031e-01 7.91588357e-01 -5.41010766e-02 7.23043969e+01] [ 8.43981074e-02 3.20676574e-03 9.96426955e-01 1.67462892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:72.34, Z:16.75 [[ 7.81361934e-01 -6.20700827e-01 -6.48383481e-02 1.81660543e+02] [ 6.18340549e-01 7.84044421e-01 -5.41231159e-02 7.23388592e+01] [ 8.44304079e-02 2.19756275e-03 9.96426955e-01 1.67465305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:72.38, Z:16.75 [[ 7.73333618e-01 -6.30676005e-01 -6.48297116e-02 1.81701723e+02] [ 6.28349475e-01 7.76045428e-01 -5.41334589e-02 7.23780290e+01] [ 8.44514748e-02 1.12750836e-03 9.96426955e-01 1.67474870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:72.42, Z:16.75 [[ 7.71211009e-01 -6.33271906e-01 -6.48095115e-02 1.81745136e+02] [ 6.30952474e-01 7.73928890e-01 -5.41576321e-02 7.24160268e+01] [ 8.44544602e-02 8.75240496e-04 9.96426956e-01 1.67544150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497105681 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:181.78, Y:72.46, Z:16.76 [[ 7.75266347e-01 -6.28302991e-01 -6.47876739e-02 1.81781353e+02] [ 6.25963960e-01 7.77967379e-01 -5.41837434e-02 7.24617123e+01] [ 8.44465049e-02 1.45208391e-03 9.96426956e-01 1.67580493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:72.50, Z:16.77 [[ 7.81830652e-01 -6.20116611e-01 -6.47782421e-02 1.81820973e+02] [ 6.17748376e-01 7.84506115e-01 -5.41950171e-02 7.25049882e+01] [ 8.44261573e-02 2.35467166e-03 9.96426956e-01 1.67696015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:72.55, Z:16.77 [[ 7.82607347e-01 -6.19138039e-01 -6.47597791e-02 1.81862761e+02] [ 6.16764636e-01 7.85278227e-01 -5.42170703e-02 7.25476063e+01] [ 8.44222951e-02 2.48913606e-03 9.96426957e-01 1.67736288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.90, Y:72.59, Z:16.78 [[ 7.82943217e-01 -6.18714996e-01 -6.47431306e-02 1.81903199e+02] [ 6.16338509e-01 7.85611352e-01 -5.42369438e-02 7.25908400e+01] [ 8.44201488e-02 2.56076272e-03 9.96426957e-01 1.67791089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.95, Y:72.63, Z:16.77 [[ 7.88029724e-01 -6.12225158e-01 -6.47264320e-02 1.81946074e+02] [ 6.09825075e-01 7.90676653e-01 -5.42568647e-02 7.26328539e+01] [ 8.43950962e-02 3.28422086e-03 9.96426958e-01 1.67727271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:72.67, Z:16.78 [[ 7.94085685e-01 -6.04351419e-01 -6.47092610e-02 1.81988819e+02] [ 6.01923448e-01 7.96707056e-01 -5.42773359e-02 7.26728822e+01] [ 8.43569098e-02 4.15083388e-03 9.96426958e-01 1.67752329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:72.71, Z:16.78 [[ 7.98261089e-01 -5.98827564e-01 -6.46898972e-02 1.82030246e+02] [ 5.96379605e-01 8.00863804e-01 -5.43004047e-02 7.27134589e+01] [ 8.43243762e-02 4.76616481e-03 9.96426958e-01 1.67770382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:72.75, Z:16.78 [[ 8.01137165e-01 -5.94975043e-01 -6.46833882e-02 1.82077353e+02] [ 5.92513953e-01 8.03727466e-01 -5.43081573e-02 7.27486294e+01] [ 8.42998139e-02 5.18247316e-03 9.96426958e-01 1.67781720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:72.79, Z:16.78 [[ 7.91346304e-01 -6.07938706e-01 -6.46649549e-02 1.82116939e+02] [ 6.05518325e-01 7.93974684e-01 -5.43300970e-02 7.27911435e+01] [ 8.43717060e-02 3.83810629e-03 9.96426959e-01 1.67849302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:72.82, Z:16.79 [[ 7.87416860e-01 -6.13020360e-01 -6.46585484e-02 1.82168280e+02] [ 6.10616325e-01 7.90060198e-01 -5.43377204e-02 7.28221779e+01] [ 8.43942745e-02 3.30487196e-03 9.96426959e-01 1.67850297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.21, Y:72.86, Z:16.80 [[ 7.78402559e-01 -6.24428755e-01 -6.46388962e-02 1.82209436e+02] [ 6.22061552e-01 7.81078932e-01 -5.43610882e-02 7.28624636e+01] [ 8.44327066e-02 2.10543806e-03 9.96426959e-01 1.67965505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:72.90, Z:16.80 [[ 7.74254062e-01 -6.29565856e-01 -6.46334276e-02 1.82253208e+02] [ 6.27215873e-01 7.76945567e-01 -5.43675895e-02 7.29020718e+01] [ 8.44446330e-02 1.55521533e-03 9.96426959e-01 1.68021645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:72.94, Z:16.80 [[ 7.66380563e-01 -6.39128880e-01 -6.46150656e-02 1.82301715e+02] [ 6.36810651e-01 7.69099466e-01 -5.43894037e-02 7.29362579e+01] [ 8.44572511e-02 5.35419889e-04 9.96426960e-01 1.68033833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:72.98, Z:16.80 [[ 7.61016371e-01 -6.45508623e-01 -6.45964438e-02 1.82342759e+02] [ 6.43211311e-01 7.63752969e-01 -5.44115112e-02 7.29783290e+01] [ 8.44588254e-02 -1.41112545e-04 9.96426960e-01 1.68019725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.38, Y:73.02, Z:16.81 [[ 7.72837358e-01 -6.31308642e-01 -6.45896016e-02 1.82383694e+02] [ 6.28960380e-01 7.75530363e-01 -5.44196321e-02 7.30188435e+01] [ 8.44467812e-02 1.43322442e-03 9.96426960e-01 1.68135069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:73.06, Z:16.82 [[ 7.84282290e-01 -6.17034948e-01 -6.45690558e-02 1.82422783e+02] [ 6.14635710e-01 7.86929981e-01 -5.44439989e-02 7.30617857e+01] [ 8.44051759e-02 3.01301663e-03 9.96426961e-01 1.68173117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.47, Y:73.10, Z:16.82 [[ 7.88007524e-01 -6.12272533e-01 -6.45483352e-02 1.82467350e+02] [ 6.09855294e-01 7.90638790e-01 -5.44685540e-02 7.31012309e+01] [ 8.43840172e-02 3.55648645e-03 9.96426961e-01 1.68175457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:182.51, Y:73.14, Z:16.82 [[ 7.87883980e-01 -6.12433374e-01 -6.45305900e-02 1.82507872e+02] [ 6.10014956e-01 7.90514162e-01 -5.44895693e-02 7.31405465e+01] [ 8.43835760e-02 3.56683366e-03 9.96426962e-01 1.68238824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.56, Y:73.18, Z:16.82 [[ 7.90401243e-01 -6.09182591e-01 -6.45170144e-02 1.82555279e+02] [ 6.06752052e-01 7.93020228e-01 -5.45056385e-02 7.31754037e+01] [ 8.43671835e-02 3.93549356e-03 9.96426962e-01 1.68168543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:73.21, Z:16.83 [[ 7.91367245e-01 -6.07929247e-01 -6.44973942e-02 1.82597603e+02] [ 6.05492676e-01 7.93980619e-01 -5.45288455e-02 7.32126605e+01] [ 8.43593610e-02 4.09964244e-03 9.96426962e-01 1.68348668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:73.25, Z:16.83 [[ 7.90341799e-01 -6.09263853e-01 -6.44778932e-02 1.82642223e+02] [ 6.06829823e-01 7.92957538e-01 -5.45518949e-02 7.32494234e+01] [ 8.43647291e-02 3.98753426e-03 9.96426963e-01 1.68319189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.69, Y:73.28, Z:16.84 [[ 7.90018126e-01 -6.09684378e-01 -6.44695224e-02 1.82691805e+02] [ 6.07250936e-01 7.92634413e-01 -5.45617858e-02 7.32814358e+01] [ 8.43662304e-02 3.95562197e-03 9.96426963e-01 1.68365123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:73.31, Z:16.84 [[ 7.86462759e-01 -6.14265723e-01 -6.44511558e-02 1.82740381e+02] [ 6.11845755e-01 7.89091513e-01 -5.45834728e-02 7.33149940e+01] [ 8.43866164e-02 3.49370249e-03 9.96426963e-01 1.68424545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.79, Y:73.35, Z:16.85 [[ 7.82819082e-01 -6.18904513e-01 -6.44320473e-02 1.82788113e+02] [ 6.16498277e-01 7.85460411e-01 -5.46060197e-02 7.33489779e+01] [ 8.44047344e-02 3.02438805e-03 9.96426964e-01 1.68525057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.84, Y:73.38, Z:16.85 [[ 7.70269634e-01 -6.34456991e-01 -6.44128641e-02 1.82839406e+02] [ 6.32102241e-01 7.72956964e-01 -5.46286388e-02 7.33790597e+01] [ 8.44478937e-02 1.36326593e-03 9.96426964e-01 1.68529036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:73.41, Z:16.87 [[ 7.58230765e-01 -6.48798519e-01 -6.43940031e-02 1.82885100e+02] [ 6.46492722e-01 7.60960212e-01 -5.46508624e-02 7.34135106e+01] [ 8.44586728e-02 -1.92289035e-04 9.96426965e-01 1.68662641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:73.45, Z:16.88 [[ 7.56791076e-01 -6.50479084e-01 -6.43756877e-02 1.82929148e+02] [ 6.48177513e-01 7.59524086e-01 -5.46724285e-02 7.34496662e+01] [ 8.44581566e-02 -3.51267122e-04 9.96426965e-01 1.68788440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:73.49, Z:16.88 [[ 7.56920111e-01 -6.50329533e-01 -6.43695942e-02 1.82968443e+02] [ 6.48026811e-01 7.59652153e-01 -5.46796018e-02 7.34910178e+01] [ 8.44582607e-02 -3.25132638e-04 9.96426965e-01 1.68806464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:73.53, Z:16.88 [[ 7.56040294e-01 -6.51353168e-01 -6.43593390e-02 1.83008331e+02] [ 6.49053118e-01 7.58774586e-01 -5.46916698e-02 7.35343801e+01] [ 8.44578231e-02 -4.23523515e-04 9.96426965e-01 1.68822809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:73.58, Z:16.90 [[ 7.58527269e-01 -6.48457170e-01 -6.43403552e-02 1.83045313e+02] [ 6.46144787e-01 7.61251137e-01 -5.47139936e-02 7.35767499e+01] [ 8.44588500e-02 -7.11289811e-05 9.96426966e-01 1.69002714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.08, Y:73.62, Z:16.91 [[ 7.61503883e-01 -6.44959946e-01 -6.43312119e-02 1.83082413e+02] [ 6.42634145e-01 7.64216303e-01 -5.47247420e-02 7.36223814e+01] [ 8.44582276e-02 3.31670123e-04 9.96426966e-01 1.69051504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:73.67, Z:16.90 [[ 7.72052283e-01 -6.32296903e-01 -6.43109449e-02 1.83124060e+02] [ 6.29924646e-01 7.74724168e-01 -5.47485489e-02 7.36656134e+01] [ 8.44405812e-02 1.75769302e-03 9.96426966e-01 1.68968706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.16, Y:73.71, Z:16.89 [[ 7.81934107e-01 -6.20036603e-01 -6.42935751e-02 1.83163030e+02] [ 6.17620810e-01 7.84566694e-01 -5.47689394e-02 7.37120575e+01] [ 8.44013448e-02 3.11665173e-03 9.96426966e-01 1.68933580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:73.75, Z:16.89 [[ 7.83948262e-01 -6.17489705e-01 -6.42774106e-02 1.83208965e+02] [ 6.15063811e-01 7.86571544e-01 -5.47879038e-02 7.37497066e+01] [ 8.43897486e-02 3.41617285e-03 9.96426967e-01 1.68945961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:73.78, Z:16.90 [[ 7.83991429e-01 -6.17436536e-01 -6.42616796e-02 1.83255853e+02] [ 6.15008956e-01 7.86613150e-01 -5.48063487e-02 7.37848560e+01] [ 8.43885243e-02 3.44619916e-03 9.96426967e-01 1.69043108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:73.82, Z:16.91 [[ 7.81721821e-01 -6.20309367e-01 -6.42439397e-02 1.83299905e+02] [ 6.17889720e-01 7.84350865e-01 -5.48271356e-02 7.38213243e+01] [ 8.43995754e-02 3.16389831e-03 9.96426967e-01 1.69137819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:73.86, Z:16.92 [[ 7.78504834e-01 -6.24342643e-01 -6.42377417e-02 1.83345507e+02] [ 6.21936023e-01 7.81145808e-01 -5.48343965e-02 7.38572796e+01] [ 8.44144946e-02 2.73707721e-03 9.96426967e-01 1.69226653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:73.89, Z:16.93 [[ 7.74074116e-01 -6.29829425e-01 -6.42196097e-02 1.83389439e+02] [ 6.27439772e-01 7.76730451e-01 -5.48556237e-02 7.38934653e+01] [ 8.44310124e-02 2.16838110e-03 9.96426968e-01 1.69264169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.43, Y:73.93, Z:16.93 [[ 7.63983864e-01 -6.42032427e-01 -6.42107332e-02 1.83433099e+02] [ 6.39684350e-01 7.66677020e-01 -5.48660121e-02 7.39319554e+01] [ 8.44546525e-02 8.42146829e-04 9.96426968e-01 1.69288124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.48, Y:73.97, Z:16.93 [[ 7.67523301e-01 -6.37797586e-01 -6.42045266e-02 1.83476165e+02] [ 6.35434044e-01 7.70202895e-01 -5.48732741e-02 7.39724745e+01] [ 8.44485541e-02 1.31877447e-03 9.96426968e-01 1.69326509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:74.01, Z:16.95 [[ 7.77865856e-01 -6.25143606e-01 -6.41886376e-02 1.83517187e+02] [ 6.22734971e-01 7.80504991e-01 -5.48918542e-02 7.40143233e+01] [ 8.44148437e-02 2.72598981e-03 9.96426968e-01 1.69470242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:183.56, Y:74.05, Z:16.95 [[ 7.86403654e-01 -6.14370620e-01 -6.41719085e-02 1.83562254e+02] [ 6.11924274e-01 7.89007871e-01 -5.49114046e-02 7.40513099e+01] [ 8.43680946e-02 3.91418073e-03 9.96426969e-01 1.69462639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:74.09, Z:16.96 [[ 7.80594602e-01 -6.21735361e-01 -6.41654717e-02 1.83608015e+02] [ 6.19312985e-01 7.83221130e-01 -5.49189252e-02 7.40861083e+01] [ 8.44007910e-02 3.13090672e-03 9.96426969e-01 1.69636166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.65, Y:74.12, Z:16.97 [[ 7.69372565e-01 -6.35570154e-01 -6.41594564e-02 1.83652054e+02] [ 6.33194463e-01 7.72041393e-01 -5.49259517e-02 7.41220467e+01] [ 8.44430517e-02 1.63310789e-03 9.96426969e-01 1.69697538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.70, Y:74.16, Z:16.98 [[ 7.60674893e-01 -6.45955420e-01 -6.41506256e-02 1.83696505e+02] [ 6.43615306e-01 7.63374970e-01 -5.49362637e-02 7.41587494e+01] [ 8.44573592e-02 5.00311967e-04 9.96426969e-01 1.69777769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:74.20, Z:16.98 [[ 7.58200832e-01 -6.48859636e-01 -6.41301061e-02 1.83736390e+02] [ 6.46527839e-01 7.60908095e-01 -5.49602069e-02 7.42011018e+01] [ 8.44585767e-02 2.08975659e-04 9.96426969e-01 1.69823934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:74.25, Z:16.98 [[ 7.66740684e-01 -6.38747725e-01 -6.41098138e-02 1.83771242e+02] [ 6.36378253e-01 7.69415033e-01 -5.49838672e-02 7.42504260e+01] [ 8.44478746e-02 1.36027660e-03 9.96426970e-01 1.69839610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:74.29, Z:16.98 [[ 7.74844882e-01 -6.28894111e-01 -6.40906087e-02 1.83810189e+02] [ 6.26488797e-01 7.77487042e-01 -5.50062442e-02 7.42936210e+01] [ 8.44227207e-02 2.46925847e-03 9.96426970e-01 1.69832509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:183.85, Y:74.33, Z:16.99 [[ 7.77808605e-01 -6.25225532e-01 -6.40843896e-02 1.83851374e+02] [ 6.22807164e-01 7.80438821e-01 -5.50134887e-02 7.43338501e+01] [ 8.44097832e-02 2.87774797e-03 9.96426970e-01 1.69871288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.90, Y:74.37, Z:16.99 [[ 7.75323909e-01 -6.28306035e-01 -6.40652942e-02 1.83896311e+02] [ 6.25896285e-01 7.77962023e-01 -5.50357170e-02 7.43717292e+01] [ 8.44196391e-02 2.57227758e-03 9.96426971e-01 1.69898161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:74.41, Z:17.00 [[ 7.72966225e-01 -6.31206154e-01 -6.40469084e-02 1.83940999e+02] [ 6.28804534e-01 7.75611742e-01 -5.50571050e-02 7.44083128e+01] [ 8.44279176e-02 2.28429627e-03 9.96426971e-01 1.69951461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:74.45, Z:16.99 [[ 7.73568898e-01 -6.30468063e-01 -6.40404731e-02 1.83986758e+02] [ 6.28063300e-01 7.76211557e-01 -5.50645893e-02 7.44460599e+01] [ 8.44254203e-02 2.37478278e-03 9.96426971e-01 1.69911280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:74.48, Z:16.99 [[ 7.74342192e-01 -6.29519863e-01 -6.40227432e-02 1.84031616e+02] [ 6.27110163e-01 7.76980350e-01 -5.50851958e-02 7.44841537e+01] [ 8.44216384e-02 2.50547832e-03 9.96426972e-01 1.69934898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.08, Y:74.52, Z:17.01 [[ 7.71900299e-01 -6.32513437e-01 -6.40053219e-02 1.84076483e+02] [ 6.30112294e-01 7.74546247e-01 -5.51054309e-02 7.45200321e+01] [ 8.44300073e-02 2.20535834e-03 9.96426972e-01 1.70093030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:74.55, Z:17.02 [[ 7.64567546e-01 -6.41359643e-01 -6.39865374e-02 1.84122236e+02] [ 6.38987302e-01 7.67239347e-01 -5.51272342e-02 7.45544124e+01] [ 8.44493725e-02 1.26190924e-03 9.96426972e-01 1.70167513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:74.59, Z:17.02 [[ 7.62084261e-01 -6.44309041e-01 -6.39799854e-02 1.84166274e+02] [ 6.41946403e-01 7.64764647e-01 -5.51348374e-02 7.45912584e+01] [ 8.44535051e-02 9.45670297e-04 9.96426972e-01 1.70226474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:74.63, Z:17.03 [[ 7.60413961e-01 -6.46281524e-01 -6.39593618e-02 1.84213302e+02] [ 6.43923827e-01 7.63098694e-01 -5.51587515e-02 7.46259134e+01] [ 8.44553874e-02 7.58527629e-04 9.96426973e-01 1.70264858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:74.66, Z:17.04 [[ 7.65155845e-01 -6.40662171e-01 -6.39414973e-02 1.84260321e+02] [ 6.38283032e-01 7.67821593e-01 -5.51794528e-02 7.46602979e+01] [ 8.44470504e-02 1.40810806e-03 9.96426973e-01 1.70380705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.30, Y:74.70, Z:17.05 [[ 7.72515651e-01 -6.31770105e-01 -6.39226293e-02 1.84304246e+02] [ 6.29358489e-01 7.75152055e-01 -5.52013019e-02 7.46973914e+01] [ 8.44242897e-02 2.41362032e-03 9.96426974e-01 1.70513041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:74.73, Z:17.04 [[ 7.79781072e-01 -6.22782273e-01 -6.39039962e-02 1.84353391e+02] [ 6.20338528e-01 7.82387721e-01 -5.52228641e-02 7.47307434e+01] [ 8.43895228e-02 3.41963324e-03 9.96426974e-01 1.70417372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:74.77, Z:17.04 [[ 7.81206215e-01 -6.20994327e-01 -6.38975424e-02 1.84397274e+02] [ 6.18544008e-01 7.83806686e-01 -5.52303307e-02 7.47703678e+01] [ 8.43810430e-02 3.62283567e-03 9.96426974e-01 1.70431588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:74.81, Z:17.04 [[ 7.82161890e-01 -6.19791998e-01 -6.38800249e-02 1.84445222e+02] [ 6.17336033e-01 7.84757030e-01 -5.52505843e-02 7.48050249e+01] [ 8.43741686e-02 3.77946025e-03 9.96426974e-01 1.70416042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:74.84, Z:17.05 [[ 7.80900621e-01 -6.21381924e-01 -6.38648991e-02 1.84490943e+02] [ 6.18929819e-01 7.83499407e-01 -5.52680629e-02 7.48388864e+01] [ 8.43806858e-02 3.63097414e-03 9.96426975e-01 1.70506595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.54, Y:74.87, Z:17.06 [[ 7.72990631e-01 -6.31195480e-01 -6.38572604e-02 1.84541297e+02] [ 6.28775667e-01 7.75619512e-01 -5.52768873e-02 7.48673179e+01] [ 8.44194586e-02 2.57662450e-03 9.96426975e-01 1.70646718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:74.90, Z:17.07 [[ 7.63966643e-01 -6.42088861e-01 -6.38503156e-02 1.84589473e+02] [ 6.39705884e-01 7.66628959e-01 -5.52849081e-02 7.48999469e+01] [ 8.44473247e-02 1.39040304e-03 9.96426975e-01 1.70678703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:74.93, Z:17.08 [[ 7.55217632e-01 -6.52358956e-01 -6.38288476e-02 1.84636966e+02] [ 6.50010096e-01 7.57910096e-01 -5.53096828e-02 7.49325196e+01] [ 8.44582950e-02 2.81452243e-04 9.96426975e-01 1.70767165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:74.97, Z:17.09 [[ 7.48976424e-01 -6.59517238e-01 -6.38069657e-02 1.84680671e+02] [ 6.57191961e-01 7.51689280e-01 -5.53349150e-02 7.49715749e+01] [ 8.44573425e-02 -4.88878167e-04 9.96426976e-01 1.70873483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:184.72, Y:75.01, Z:17.10 [[ 7.50879801e-01 -6.57351301e-01 -6.37870770e-02 1.84718865e+02] [ 6.55016251e-01 7.53584249e-01 -5.53578323e-02 7.50139676e+01] [ 8.44584796e-02 -2.14493934e-04 9.96426976e-01 1.70951250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:184.75, Y:75.06, Z:17.11 [[ 7.60385788e-01 -6.46332612e-01 -6.37777952e-02 1.84753012e+02] [ 6.43957480e-01 7.63055104e-01 -5.53685237e-02 7.50633652e+01] [ 8.44524547e-02 1.03125027e-03 9.96426976e-01 1.71054993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:75.11, Z:17.10 [[ 7.69981951e-01 -6.34872062e-01 -6.37593985e-02 1.84789621e+02] [ 6.32455467e-01 7.72613787e-01 -5.53897003e-02 7.51097120e+01] [ 8.44267636e-02 2.32408932e-03 9.96426977e-01 1.71033889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:75.15, Z:17.09 [[ 7.76294510e-01 -6.27139853e-01 -6.37372691e-02 1.84831577e+02] [ 6.24694973e-01 7.78900091e-01 -5.54151531e-02 7.51510326e+01] [ 8.43980157e-02 3.20212755e-03 9.96426977e-01 1.70925885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:184.87, Y:75.19, Z:17.09 [[ 7.77943327e-01 -6.25094333e-01 -6.37279722e-02 1.84873513e+02] [ 6.22641731e-01 7.80541640e-01 -5.54258426e-02 7.51932982e+01] [ 8.43887161e-02 3.43846948e-03 9.96426978e-01 1.70904299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:75.23, Z:17.09 [[ 7.76929122e-01 -6.26356366e-01 -6.37090435e-02 1.84920573e+02] [ 6.23906206e-01 7.79529737e-01 -5.54475917e-02 7.52284263e+01] [ 8.43930460e-02 3.33038110e-03 9.96426978e-01 1.70940045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.97, Y:75.26, Z:17.11 [[ 7.73323614e-01 -6.30804349e-01 -6.36903560e-02 1.84966126e+02] [ 6.28367389e-01 7.75936602e-01 -5.54690489e-02 7.52645362e+01] [ 8.44097957e-02 2.87458268e-03 9.96426978e-01 1.71060030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.02, Y:75.29, Z:17.12 [[ 7.65660470e-01 -6.40084571e-01 -6.36850526e-02 1.85017601e+02] [ 6.37678794e-01 7.68302196e-01 -5.54751373e-02 7.52931949e+01] [ 8.44381452e-02 1.86451220e-03 9.96426978e-01 1.71188555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.06, Y:75.33, Z:17.12 [[ 7.58887607e-01 -6.48101940e-01 -6.36669047e-02 1.85064449e+02] [ 6.45722333e-01 7.61552931e-01 -5.54959572e-02 7.53273312e+01] [ 8.44527554e-02 1.00405196e-03 9.96426979e-01 1.71233794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:75.36, Z:17.13 [[ 7.58181150e-01 -6.48930415e-01 -6.36448015e-02 1.85107922e+02] [ 6.46551594e-01 7.60847174e-01 -5.55212945e-02 7.53634710e+01] [ 8.44534240e-02 9.45551062e-04 9.96426979e-01 1.71306416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:75.40, Z:17.13 [[ 7.61821577e-01 -6.44653726e-01 -6.36353637e-02 1.85151199e+02] [ 6.42259037e-01 7.64473358e-01 -5.55321095e-02 7.54040814e+01] [ 8.44465214e-02 1.43517183e-03 9.96426979e-01 1.71316875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.19, Y:75.44, Z:17.14 [[ 7.67925637e-01 -6.37372052e-01 -6.36166876e-02 1.85192939e+02] [ 6.34950457e-01 7.70552870e-01 -5.55534963e-02 7.54435952e+01] [ 8.44282672e-02 2.26750917e-03 9.96426980e-01 1.71384657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:185.24, Y:75.48, Z:17.15 [[ 7.79851391e-01 -6.22725704e-01 -6.35964280e-02 1.85239264e+02] [ 6.20252942e-01 7.82430521e-01 -5.55766795e-02 7.54786304e+01] [ 8.43688132e-02 3.89567920e-03 9.96426980e-01 1.71487368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.28, Y:75.52, Z:17.15 [[ 7.83945545e-01 -6.17565663e-01 -6.35770030e-02 1.85281741e+02] [ 6.15074141e-01 7.86506557e-01 -5.55988919e-02 7.55176216e+01] [ 8.43396963e-02 4.48193310e-03 9.96426981e-01 1.71510920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:185.33, Y:75.55, Z:17.15 [[ 7.81651933e-01 -6.20468282e-01 -6.35560124e-02 1.85329543e+02] [ 6.17984332e-01 7.84220289e-01 -5.56228763e-02 7.55527618e+01] [ 8.43541449e-02 4.20110897e-03 9.96426981e-01 1.71512347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:75.59, Z:17.15 [[ 7.76072353e-01 -6.27434987e-01 -6.35377021e-02 1.85375585e+02] [ 6.24972402e-01 7.78661201e-01 -5.56437843e-02 7.55878790e+01] [ 8.43872005e-02 3.47429235e-03 9.96426982e-01 1.71534815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:185.42, Y:75.63, Z:17.16 [[ 7.70327359e-01 -6.34475795e-01 -6.35313007e-02 1.85420735e+02] [ 6.32036284e-01 7.72937961e-01 -5.56510920e-02 7.56252589e+01] [ 8.44150249e-02 2.71547154e-03 9.96426982e-01 1.71578113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:75.66, Z:17.17 [[ 7.65373325e-01 -6.40444944e-01 -6.35133612e-02 1.85465000e+02] [ 6.38024104e-01 7.68001250e-01 -5.56715586e-02 7.56622568e+01] [ 8.44329090e-02 2.08647048e-03 9.96426982e-01 1.71689240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.51, Y:75.70, Z:17.17 [[ 7.60713718e-01 -6.45973370e-01 -6.35062516e-02 1.85509038e+02] [ 6.43570957e-01 7.63358499e-01 -5.56796675e-02 7.56992909e+01] [ 8.44456194e-02 1.48550777e-03 9.96426982e-01 1.71736910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:185.55, Y:75.74, Z:17.17 [[ 7.51122293e-01 -6.57102088e-01 -6.34991780e-02 1.85553840e+02] [ 6.54738188e-01 7.53801553e-01 -5.56877333e-02 7.57382622e+01] [ 8.44583049e-02 2.52961224e-04 9.96426982e-01 1.71659925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:75.78, Z:17.18 [[ 7.46828683e-01 -6.61979708e-01 -6.34805857e-02 1.85596351e+02] [ 6.59631505e-01 7.49521710e-01 -5.57089195e-02 7.57760425e+01] [ 8.44582514e-02 -2.68775281e-04 9.96426983e-01 1.71768460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:185.64, Y:75.82, Z:17.19 [[ 7.39360211e-01 -6.70312936e-01 -6.34590110e-02 1.85636149e+02] [ 6.67992972e-01 7.42077602e-01 -5.57334848e-02 7.58188874e+01] [ 8.44503866e-02 -1.18305229e-03 9.96426983e-01 1.71872697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.68, Y:75.86, Z:17.20 [[ 7.36301637e-01 -6.73673002e-01 -6.34396211e-02 1.85676550e+02] [ 6.71363537e-01 7.39027956e-01 -5.57555470e-02 7.58592518e+01] [ 8.44446603e-02 -1.53814789e-03 9.96426984e-01 1.71983910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:75.91, Z:17.20 [[ 7.32468020e-01 -6.77839857e-01 -6.34328637e-02 1.85714066e+02] [ 6.75545233e-01 7.35206842e-01 -5.57632339e-02 7.59061548e+01] [ 8.44348178e-02 -2.00698318e-03 9.96426984e-01 1.72006170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.75, Y:75.96, Z:17.20 [[ 7.24370338e-01 -6.86488480e-01 -6.34127818e-02 1.85745305e+02] [ 6.84224540e-01 7.27134578e-01 -5.57860613e-02 7.59576782e+01] [ 8.44061147e-02 -2.97881344e-03 9.96426984e-01 1.72044768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:76.01, Z:17.21 [[ 7.19830343e-01 -6.91248908e-01 -6.33973532e-02 1.85778979e+02] [ 6.89001701e-01 7.22608203e-01 -5.58035894e-02 7.60078772e+01] [ 8.43856177e-02 -3.51176733e-03 9.96426984e-01 1.72127167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:76.06, Z:17.22 [[ 7.22121159e-01 -6.88857194e-01 -6.33782128e-02 1.85809456e+02] [ 6.86598882e-01 7.24889998e-01 -5.58253195e-02 7.60611142e+01] [ 8.43979054e-02 -3.20276559e-03 9.96426985e-01 1.72228051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:76.12, Z:17.22 [[ 7.31654175e-01 -6.78725065e-01 -6.33597256e-02 1.85840385e+02] [ 6.76426565e-01 7.34389743e-01 -5.58462939e-02 7.61160093e+01] [ 8.44350121e-02 -1.99802751e-03 9.96426985e-01 1.72235425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:185.87, Y:76.17, Z:17.23 [[ 7.47241619e-01 -6.61526781e-01 -6.33425610e-02 1.85870392e+02] [ 6.59163637e-01 7.49921541e-01 -5.58657558e-02 7.61672268e+01] [ 8.44586446e-02 -7.89501955e-06 9.96426985e-01 1.72297157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:76.21, Z:17.24 [[ 7.54846767e-01 -6.52836295e-01 -6.33334940e-02 1.85904208e+02] [ 6.50441437e-01 7.57498387e-01 -5.58760329e-02 7.62147576e+01] [ 8.44529218e-02 9.83113943e-04 9.96426986e-01 1.72416498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:76.26, Z:17.25 [[ 7.56663337e-01 -6.50730565e-01 -6.33271328e-02 1.85945819e+02] [ 6.48327726e-01 7.59307726e-01 -5.58832415e-02 7.62556611e+01] [ 8.44497145e-02 1.22806400e-03 9.96426986e-01 1.72491604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.99, Y:76.30, Z:17.25 [[ 7.59784155e-01 -6.47085824e-01 -6.33085596e-02 1.85987371e+02] [ 6.44668549e-01 7.62415355e-01 -5.59042746e-02 7.62958838e+01] [ 8.44422816e-02 1.66214478e-03 9.96426986e-01 1.72524711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.03, Y:76.34, Z:17.25 [[ 7.71381836e-01 -6.33217767e-01 -6.32876180e-02 1.86030764e+02] [ 6.30751290e-01 7.73966971e-01 -5.59279720e-02 7.63357880e+01] [ 8.43971116e-02 3.22307500e-03 9.96426986e-01 1.72532793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:76.37, Z:17.26 [[ 7.81885274e-01 -6.20203542e-01 -6.32691412e-02 1.86078095e+02] [ 6.17692414e-01 7.84427056e-01 -5.59488664e-02 7.63705532e+01] [ 8.43297113e-02 4.66472613e-03 9.96426987e-01 1.72561692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:76.40, Z:17.27 [[ 7.80190751e-01 -6.22335674e-01 -6.32510953e-02 1.86126884e+02] [ 6.19829848e-01 7.82737760e-01 -5.59692602e-02 7.64011133e+01] [ 8.43406879e-02 4.46178236e-03 9.96426987e-01 1.72670241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:76.43, Z:17.27 [[ 7.72850639e-01 -6.31428838e-01 -6.32417047e-02 1.86178174e+02] [ 6.28952143e-01 7.75425984e-01 -5.59798690e-02 7.64302202e+01] [ 8.43865647e-02 3.48807185e-03 9.96426987e-01 1.72715864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:186.23, Y:76.46, Z:17.27 [[ 7.66585274e-01 -6.39022778e-01 -6.32210954e-02 1.86229667e+02] [ 6.36569696e-01 7.69183119e-01 -5.60031346e-02 7.64618590e+01] [ 8.44158780e-02 2.68654481e-03 9.96426988e-01 1.72705343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.28, Y:76.49, Z:17.27 [[ 7.53794851e-01 -6.54063185e-01 -6.32034194e-02 1.86281640e+02] [ 6.51660305e-01 7.56439199e-01 -5.60230762e-02 7.64901700e+01] [ 8.44521756e-02 1.04274684e-03 9.96426988e-01 1.72724814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:76.52, Z:17.28 [[ 7.43222761e-01 -6.66052581e-01 -6.31972038e-02 1.86329245e+02] [ 6.63691766e-01 7.45904732e-01 -5.60300868e-02 7.65238385e+01] [ 8.44580773e-02 -3.00628040e-04 9.96426988e-01 1.72788190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857105681 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:76.56, Z:17.28 [[ 7.40993146e-01 -6.68534208e-01 -6.31757101e-02 1.86375538e+02] [ 6.66180309e-01 7.43681188e-01 -5.60543112e-02 7.65594453e+01] [ 8.44568117e-02 -5.50553674e-04 9.96426989e-01 1.72844533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:76.60, Z:17.30 [[ 7.48882436e-01 -6.59686517e-01 -6.31569216e-02 1.86415795e+02] [ 6.57299074e-01 7.51540730e-01 -5.60754725e-02 7.66015497e+01] [ 8.44572320e-02 4.80950302e-04 9.96426989e-01 1.72958659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.46, Y:76.64, Z:17.31 [[ 7.58556066e-01 -6.48541673e-01 -6.31378889e-02 1.86456257e+02] [ 6.46113405e-01 7.61177119e-01 -5.60968941e-02 7.66423455e+01] [ 8.44402899e-02 1.75840288e-03 9.96426990e-01 1.73085825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.50, Y:76.68, Z:17.31 [[ 7.55266597e-01 -6.52370474e-01 -6.31278984e-02 1.86497733e+02] [ 6.49954556e-01 7.57899038e-01 -5.61081345e-02 7.66825350e+01] [ 8.44478638e-02 1.34633464e-03 9.96426990e-01 1.73140109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.54, Y:76.72, Z:17.32 [[ 7.46300261e-01 -6.62611062e-01 -6.31070527e-02 1.86539943e+02] [ 6.60229292e-01 7.48963637e-01 -5.61315708e-02 7.67233515e+01] [ 8.44582874e-02 2.25881308e-04 9.96426990e-01 1.73160200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:76.76, Z:17.32 [[ 7.33145682e-01 -6.77139023e-01 -6.30884418e-02 1.86582408e+02] [ 6.74808216e-01 7.35853769e-01 -5.61524806e-02 7.67631619e+01] [ 8.44469036e-02 -1.40465018e-03 9.96426991e-01 1.73223869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:76.81, Z:17.32 [[ 7.24585360e-01 -6.86293156e-01 -6.30694879e-02 1.86619085e+02] [ 6.83994694e-01 7.27320952e-01 -5.61737612e-02 7.68073250e+01] [ 8.44234279e-02 -2.43651010e-03 9.96426991e-01 1.73236956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:76.85, Z:17.33 [[ 7.26941748e-01 -6.83797550e-01 -6.30603387e-02 1.86657729e+02] [ 6.81488805e-01 7.29668667e-01 -5.61840303e-02 7.68501315e+01] [ 8.44316555e-02 -2.13239766e-03 9.96426991e-01 1.73320186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:76.90, Z:17.34 [[ 7.34818237e-01 -6.75328155e-01 -6.30400039e-02 1.86692637e+02] [ 6.72986010e-01 7.37516523e-01 -5.62068372e-02 7.68964155e+01] [ 8.44511042e-02 -1.12323175e-03 9.96426991e-01 1.73395031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:76.94, Z:17.34 [[ 7.44805557e-01 -6.64297930e-01 -6.30312773e-02 1.86733753e+02] [ 6.61914990e-01 7.47467884e-01 -5.62166216e-02 7.69382802e+01] [ 8.44584409e-02 1.49104902e-04 9.96426992e-01 1.73358013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.77, Y:76.98, Z:17.34 [[ 7.52655439e-01 -6.55391193e-01 -6.30251906e-02 1.86772892e+02] [ 6.52976181e-01 7.55288707e-01 -5.62234447e-02 7.69816893e+01] [ 8.44505653e-02 1.16293317e-03 9.96426992e-01 1.73392813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:77.02, Z:17.35 [[ 7.59704368e-01 -6.47209040e-01 -6.30058095e-02 1.86814252e+02] [ 6.44763878e-01 7.62309664e-01 -5.62451555e-02 7.70232262e+01] [ 8.44323106e-02 2.10582022e-03 9.96426992e-01 1.73472482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:77.06, Z:17.35 [[ 7.60659071e-01 -6.46088596e-01 -6.29865355e-02 1.86854898e+02] [ 6.43637812e-01 7.63259079e-01 -5.62667314e-02 7.70644774e+01] [ 8.44283386e-02 2.25928379e-03 9.96426992e-01 1.73468298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.90, Y:77.10, Z:17.35 [[ 7.59426103e-01 -6.47538063e-01 -6.29797708e-02 1.86897622e+02] [ 6.45091614e-01 7.62030191e-01 -5.62743021e-02 7.71031869e+01] [ 8.44322394e-02 2.10845194e-03 9.96426993e-01 1.73502384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.94, Y:77.14, Z:17.35 [[ 7.56581615e-01 -6.50861410e-01 -6.29578081e-02 1.86943639e+02] [ 6.48424360e-01 7.59194499e-01 -5.62988627e-02 7.71379993e+01] [ 8.44399787e-02 1.77130804e-03 9.96426993e-01 1.73520293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:77.17, Z:17.36 [[ 7.54126763e-01 -6.53704815e-01 -6.29510925e-02 1.86988605e+02] [ 6.51276992e-01 7.56748223e-01 -5.63063708e-02 7.71748979e+01] [ 8.44458731e-02 1.46354298e-03 9.96426993e-01 1.73606022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:77.21, Z:17.36 [[ 7.51500196e-01 -6.56724437e-01 -6.29322596e-02 1.87036698e+02] [ 6.54305387e-01 7.54129753e-01 -5.63274121e-02 7.72070802e+01] [ 8.44506773e-02 1.15314478e-03 9.96426994e-01 1.73644411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.09, Y:77.24, Z:17.37 [[ 7.46415771e-01 -6.62498193e-01 -6.29256758e-02 1.87087965e+02] [ 6.60098866e-01 7.49063336e-01 -5.63347661e-02 7.72385161e+01] [ 8.44569974e-02 5.11990659e-04 9.96426994e-01 1.73671577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.14, Y:77.27, Z:17.37 [[ 7.47661006e-01 -6.61094286e-01 -6.29075899e-02 1.87136519e+02] [ 6.58688288e-01 7.50302511e-01 -5.63549550e-02 7.72710085e+01] [ 8.44556614e-02 6.97909624e-04 9.96426994e-01 1.73742594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.18, Y:77.30, Z:17.39 [[ 7.51744238e-01 -6.56449423e-01 -6.28868426e-02 1.87182421e+02] [ 6.54025171e-01 7.54368999e-01 -5.63780976e-02 7.73049173e+01] [ 8.44492541e-02 1.25233203e-03 9.96426994e-01 1.73892577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:77.34, Z:17.39 [[ 7.60306214e-01 -6.46514117e-01 -6.28804945e-02 1.87224558e+02] [ 6.44054998e-01 7.62898337e-01 -5.63851769e-02 7.73425625e+01] [ 8.44252376e-02 2.37150369e-03 9.96426994e-01 1.73943309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.27, Y:77.38, Z:17.40 [[ 7.66853970e-01 -6.38734774e-01 -6.28719097e-02 1.87270604e+02] [ 6.36248591e-01 7.69420147e-01 -5.63947478e-02 7.73800098e+01] [ 8.43962005e-02 3.24437228e-03 9.96426995e-01 1.73958475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:77.41, Z:17.39 [[ 7.63515021e-01 -6.42724117e-01 -6.28531778e-02 1.87321121e+02] [ 6.40249632e-01 7.66092479e-01 -5.64156171e-02 7.74125935e+01] [ 8.44110246e-02 2.83244716e-03 9.96426995e-01 1.73948672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:77.44, Z:17.40 [[ 7.60330245e-01 -6.46490367e-01 -6.28340944e-02 1.87369221e+02] [ 6.44026900e-01 7.62918235e-01 -5.64368638e-02 7.74433797e+01] [ 8.44231652e-02 2.44380746e-03 9.96426995e-01 1.73989432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:77.48, Z:17.41 [[ 7.59354267e-01 -6.47638070e-01 -6.28174085e-02 1.87418723e+02] [ 6.45176980e-01 7.61944518e-01 -5.64554301e-02 7.74754523e+01] [ 8.44260658e-02 2.34132579e-03 9.96426996e-01 1.74078907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:77.51, Z:17.40 [[ 7.65497731e-01 -6.40366756e-01 -6.27984164e-02 1.87469249e+02] [ 6.37879347e-01 7.68062718e-01 -5.64765482e-02 7.75091562e+01] [ 8.43988263e-02 3.17485663e-03 9.96426996e-01 1.74012606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:77.54, Z:17.41 [[ 7.69702340e-01 -6.35308466e-01 -6.27810533e-02 1.87518330e+02] [ 6.32802641e-01 7.72249337e-01 -5.64958429e-02 7.75414972e+01] [ 8.43749141e-02 3.75696617e-03 9.96426996e-01 1.74056876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:187.57, Y:77.57, Z:17.41 [[ 7.73688126e-01 -6.30450623e-01 -6.27590341e-02 1.87569685e+02] [ 6.27926839e-01 7.76217329e-01 -5.65202927e-02 7.75709977e+01] [ 8.43479035e-02 4.32099741e-03 9.96426997e-01 1.74131119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:187.62, Y:77.60, Z:17.42 [[ 7.79190601e-01 -6.23639341e-01 -6.27373920e-02 1.87619086e+02] [ 6.21091546e-01 7.81695614e-01 -5.65443053e-02 7.76022591e+01] [ 8.43047974e-02 5.09312738e-03 9.96426997e-01 1.74242667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:77.63, Z:17.43 [[ 7.87093551e-01 -6.13635556e-01 -6.27307520e-02 1.87668057e+02] [ 6.11055390e-01 7.89565209e-01 -5.65516708e-02 7.76334919e+01] [ 8.42321352e-02 6.17949126e-03 9.96426997e-01 1.74313312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:77.66, Z:17.43 [[ 7.88622213e-01 -6.11670409e-01 -6.27241302e-02 1.87722487e+02] [ 6.09083509e-01 7.91086820e-01 -5.65590144e-02 7.76615464e+01] [ 8.42157082e-02 6.39946173e-03 9.96426998e-01 1.74307562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.78, Y:77.68, Z:17.44 [[ 7.83904444e-01 -6.17706814e-01 -6.27065653e-02 1.87781752e+02] [ 6.15137367e-01 7.86387242e-01 -5.65784818e-02 7.76826924e+01] [ 8.42605567e-02 5.77897180e-03 9.96426998e-01 1.74371866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:77.71, Z:17.44 [[ 7.85522782e-01 -6.15648544e-01 -6.26963200e-02 1.87836898e+02] [ 6.13071696e-01 7.87997897e-01 -5.65898327e-02 7.77087354e+01] [ 8.42440165e-02 6.01526356e-03 9.96426998e-01 1.74375437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:77.73, Z:17.44 [[ 7.87395104e-01 -6.13252777e-01 -6.26895622e-02 1.87895762e+02] [ 6.10667811e-01 7.89861740e-01 -5.65973179e-02 7.77314039e+01] [ 8.42245491e-02 6.28195340e-03 9.96426998e-01 1.74426279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:187.95, Y:77.76, Z:17.45 [[ 7.85171096e-01 -6.16099766e-01 -6.26692032e-02 1.87946007e+02] [ 6.13521965e-01 7.87645219e-01 -5.66198521e-02 7.77624064e+01] [ 8.42445759e-02 6.00733864e-03 9.96426998e-01 1.74483970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.957105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:188.00, Y:77.79, Z:17.45 [[ 7.90824709e-01 -6.08827543e-01 -6.26522362e-02 1.88001366e+02] [ 6.06225550e-01 7.93273376e-01 -5.66386207e-02 7.77884288e+01] [ 8.41835032e-02 6.80983438e-03 9.96426999e-01 1.74522674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:77.82, Z:17.46 [[ 7.93313504e-01 -6.05582927e-01 -6.26338820e-02 1.88050165e+02] [ 6.02969344e-01 7.95749796e-01 -5.66589105e-02 7.78213995e+01] [ 8.41525677e-02 7.18196808e-03 9.96426999e-01 1.74580894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077105681 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:188.10, Y:77.85, Z:17.47 [[ 7.95936032e-01 -6.02133780e-01 -6.26158443e-02 1.88099964e+02] [ 5.99508102e-01 7.98359283e-01 -5.66788376e-02 7.78514873e+01] [ 8.41181833e-02 7.57402311e-03 9.96427000e-01 1.74673961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137105681 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:188.16, Y:77.88, Z:17.47 [[ 7.90548050e-01 -6.09191151e-01 -6.26092877e-02 1.88157362e+02] [ 6.06586569e-01 7.92993962e-01 -5.66860793e-02 7.78763143e+01] [ 8.41814450e-02 6.83511644e-03 9.96427000e-01 1.74672102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:77.91, Z:17.47 [[ 7.89785632e-01 -6.10181005e-01 -6.25923001e-02 1.88209387e+02] [ 6.07578020e-01 7.92233243e-01 -5.67048308e-02 7.79071366e+01] [ 8.41879115e-02 6.75495483e-03 9.96427000e-01 1.74694733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25710568099998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:77.94, Z:17.48 [[ 7.90245110e-01 -6.09587725e-01 -6.25737226e-02 1.88257193e+02] [ 6.06981299e-01 7.92689056e-01 -5.67253236e-02 7.79402324e+01] [ 8.41805661e-02 6.84583016e-03 9.96427000e-01 1.74755623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317105681 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:77.97, Z:17.48 [[ 7.89081919e-01 -6.11093335e-01 -6.25672501e-02 1.88307079e+02] [ 6.08491014e-01 7.91530235e-01 -5.67324618e-02 7.79724329e+01] [ 8.41926995e-02 6.69495042e-03 9.96427000e-01 1.74790343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377105681 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:188.36, Y:78.00, Z:17.48 [[ 7.88017758e-01 -6.12466992e-01 -6.25475523e-02 1.88356793e+02] [ 6.09867236e-01 7.90468797e-01 -5.67541704e-02 7.80047863e+01] [ 8.42019444e-02 6.57759132e-03 9.96427001e-01 1.74842851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:188.41, Y:78.04, Z:17.49 [[ 7.86579249e-01 -6.14315335e-01 -6.25280252e-02 1.88407606e+02] [ 6.11719648e-01 7.89034597e-01 -5.67756760e-02 7.80355493e+01] [ 8.42149435e-02 6.40894700e-03 9.96427001e-01 1.74900365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497105681 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:78.07, Z:17.50 [[ 7.81164086e-01 -6.21188636e-01 -6.25087905e-02 1.88450764e+02] [ 6.18612898e-01 7.83640351e-01 -5.67968451e-02 7.80736167e+01] [ 8.42659653e-02 5.69891152e-03 9.96427002e-01 1.74957844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:78.11, Z:17.51 [[ 7.82192675e-01 -6.19894745e-01 -6.24909840e-02 1.88498441e+02] [ 6.17313361e-01 7.84663054e-01 -5.68164301e-02 7.81076872e+01] [ 8.42545728e-02 5.86487606e-03 9.96427002e-01 1.75095454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617105681 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:78.14, Z:17.52 [[ 7.86018484e-01 -6.15038321e-01 -6.24724453e-02 1.88546366e+02] [ 6.12440083e-01 7.88471130e-01 -5.68368070e-02 7.81417042e+01] [ 8.42145339e-02 6.41415136e-03 9.96427002e-01 1.75175198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677105681 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:188.59, Y:78.18, Z:17.52 [[ 7.89420704e-01 -6.10667179e-01 -6.24543720e-02 1.88594319e+02] [ 6.08053819e-01 7.91857230e-01 -5.68566598e-02 7.81770288e+01] [ 8.41754421e-02 6.90820497e-03 9.96427003e-01 1.75187012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:188.64, Y:78.21, Z:17.52 [[ 7.89697140e-01 -6.10311518e-01 -6.24361928e-02 1.88644120e+02] [ 6.07695502e-01 7.92130814e-01 -5.68766159e-02 7.82093589e+01] [ 8.41700861e-02 6.97310738e-03 9.96427003e-01 1.75228152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:78.24, Z:17.53 [[ 7.88072716e-01 -6.12408205e-01 -6.24306381e-02 1.88693513e+02] [ 6.09798189e-01 7.90512824e-01 -5.68827124e-02 7.82427603e+01] [ 8.41876599e-02 6.75762364e-03 9.96427003e-01 1.75285898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:78.28, Z:17.53 [[ 7.85458682e-01 -6.15759211e-01 -6.24119636e-02 1.88739158e+02] [ 6.13158002e-01 7.87908174e-01 -5.69031948e-02 7.82781228e+01] [ 8.42135627e-02 6.42671348e-03 9.96427003e-01 1.75328156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:78.32, Z:17.53 [[ 7.80148488e-01 -6.22474258e-01 -6.24030041e-02 1.88784529e+02] [ 6.19893377e-01 7.82619390e-01 -5.69130186e-02 7.83169620e+01] [ 8.42646900e-02 5.71739650e-03 9.96427004e-01 1.75319729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:188.83, Y:78.35, Z:17.54 [[ 7.77521742e-01 -6.25753912e-01 -6.23857521e-02 1.88831981e+02] [ 6.23181953e-01 7.80001929e-01 -5.69319234e-02 7.83515202e+01] [ 8.42863807e-02 5.38813339e-03 9.96427004e-01 1.75414887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:188.87, Y:78.40, Z:17.55 [[ 7.77149128e-01 -6.26218779e-01 -6.23640403e-02 1.88869923e+02] [ 6.23646410e-01 7.79628889e-01 -5.69556969e-02 7.83969301e+01] [ 8.42875344e-02 5.36996030e-03 9.96427004e-01 1.75469819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097105681 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:78.44, Z:17.55 [[ 7.80383815e-01 -6.22184946e-01 -6.23457647e-02 1.88910293e+02] [ 6.19598182e-01 7.82848557e-01 -5.69756950e-02 7.84403750e+01] [ 8.42567116e-02 5.83358772e-03 9.96427005e-01 1.75490850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157105681 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:188.95, Y:78.48, Z:17.55 [[ 7.82131352e-01 -6.19988653e-01 -6.23267023e-02 1.88951553e+02] [ 6.17393325e-01 7.84587074e-01 -5.69965401e-02 7.84824552e+01] [ 8.42379331e-02 6.09869100e-03 9.96427005e-01 1.75538422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:188.99, Y:78.52, Z:17.56 [[ 7.81492981e-01 -6.20795081e-01 -6.23072074e-02 1.88992511e+02] [ 6.18200605e-01 7.83949602e-01 -5.70178436e-02 7.85225167e+01] [ 8.42421072e-02 6.04069133e-03 9.96427006e-01 1.75630985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277105681 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:78.56, Z:17.57 [[ 7.80781819e-01 -6.21690290e-01 -6.22971510e-02 1.89034370e+02] [ 6.19097762e-01 7.83240495e-01 -5.70288290e-02 7.85613002e+01] [ 8.42479206e-02 5.95904602e-03 9.96427006e-01 1.75681472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:78.60, Z:17.58 [[ 7.77182076e-01 -6.26185713e-01 -6.22854292e-02 1.89075666e+02] [ 6.23606399e-01 7.79654611e-01 -5.70416284e-02 7.86032283e+01] [ 8.42797748e-02 5.49013888e-03 9.96427006e-01 1.75755714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:189.12, Y:78.64, Z:17.59 [[ 7.78330648e-01 -6.24759113e-01 -6.22692006e-02 1.89121453e+02] [ 6.22173863e-01 7.80796975e-01 -5.70593389e-02 7.86375590e+01] [ 8.42679454e-02 5.66876315e-03 9.96427006e-01 1.75872075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:189.17, Y:78.68, Z:17.59 [[ 7.76128877e-01 -6.27492895e-01 -6.22626098e-02 1.89165148e+02] [ 6.24915763e-01 7.78603686e-01 -5.70665298e-02 7.86774198e+01] [ 8.42867394e-02 5.38209541e-03 9.96427006e-01 1.75866047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:189.21, Y:78.72, Z:17.59 [[ 7.72988223e-01 -6.31359526e-01 -6.22443210e-02 1.89207934e+02] [ 6.28793186e-01 7.75474219e-01 -5.70864710e-02 7.87184274e+01] [ 8.43109535e-02 4.98836488e-03 9.96427007e-01 1.75898817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:78.76, Z:17.60 [[ 7.72819487e-01 -6.31567744e-01 -6.22272159e-02 1.89249498e+02] [ 6.29000581e-01 7.75304634e-01 -5.71051104e-02 7.87600454e+01] [ 8.43107946e-02 4.99098709e-03 9.96427007e-01 1.75951137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:189.29, Y:78.80, Z:17.60 [[ 7.73114819e-01 -6.31207992e-01 -6.22089043e-02 1.89293087e+02] [ 6.28638079e-01 7.75597121e-01 -5.71250517e-02 7.87990772e+01] [ 8.43068363e-02 5.05733794e-03 9.96427007e-01 1.76019037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:189.34, Y:78.84, Z:17.61 [[ 7.72069055e-01 -6.32488474e-01 -6.21908795e-02 1.89337945e+02] [ 6.29921108e-01 7.74553991e-01 -5.71446682e-02 7.88371709e+01] [ 8.43135379e-02 4.94428228e-03 9.96427008e-01 1.76050968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:78.87, Z:17.62 [[ 7.66740119e-01 -6.38939770e-01 -6.21736313e-02 1.89383880e+02] [ 6.36391815e-01 7.69244955e-01 -5.71634283e-02 7.88732096e+01] [ 8.43507398e-02 4.26270377e-03 9.96427008e-01 1.76213035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817105681 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:78.91, Z:17.63 [[ 7.56324675e-01 -6.51237093e-01 -6.21549215e-02 1.89428643e+02] [ 6.48728249e-01 7.58868682e-01 -5.71837646e-02 7.89110987e+01] [ 8.44076120e-02 2.92783877e-03 9.96427008e-01 1.76298265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877105681 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:78.95, Z:17.63 [[ 7.45646453e-01 -6.63438335e-01 -6.21364829e-02 1.89469190e+02] [ 6.60969484e-01 7.48229288e-01 -5.72037932e-02 7.89544957e+01] [ 8.44435257e-02 1.58348647e-03 9.96427009e-01 1.76256338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937105681 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:79.00, Z:17.63 [[ 7.39512296e-01 -6.70270785e-01 -6.21179511e-02 1.89507517e+02] [ 6.67824112e-01 7.42116150e-01 -5.72239100e-02 7.89981248e+01] [ 8.44542497e-02 8.33919531e-04 9.96427009e-01 1.76292683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997105681 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:79.05, Z:17.63 [[ 7.38134452e-01 -6.71789808e-01 -6.20965847e-02 1.89540703e+02] [ 6.69346544e-01 7.40741504e-01 -5.72470864e-02 7.90471541e+01] [ 8.44555267e-02 6.91912358e-04 9.96427010e-01 1.76294179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:79.10, Z:17.64 [[ 7.41818779e-01 -6.67721219e-01 -6.20747322e-02 1.89570107e+02] [ 6.65261676e-01 7.44410479e-01 -5.72707720e-02 7.91013919e+01] [ 8.44499908e-02 1.18859384e-03 9.96427010e-01 1.76377429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:79.14, Z:17.64 [[ 7.44594302e-01 -6.64626704e-01 -6.20537627e-02 1.89609243e+02] [ 6.62154499e-01 7.47173926e-01 -5.72934838e-02 7.91443427e+01] [ 8.44437328e-02 1.57122339e-03 9.96427011e-01 1.76390726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177105681 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:189.64, Y:79.20, Z:17.65 [[ 7.50708180e-01 -6.57715254e-01 -6.20312223e-02 1.89639227e+02] [ 6.55217296e-01 7.53262873e-01 -5.73178778e-02 7.91968014e+01] [ 8.44246593e-02 2.38507001e-03 9.96427011e-01 1.76523883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237105681 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:189.68, Y:79.24, Z:17.66 [[ 7.54217035e-01 -6.53690585e-01 -6.20103486e-02 1.89675246e+02] [ 6.51177146e-01 7.56756498e-01 -5.73404516e-02 7.92436719e+01] [ 8.44096476e-02 2.86742355e-03 9.96427012e-01 1.76597283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297105681 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:79.29, Z:17.67 [[ 7.57268740e-01 -6.50154983e-01 -6.19883419e-02 1.89713056e+02] [ 6.47627749e-01 7.59794474e-01 -5.73642323e-02 7.92868629e+01] [ 8.43940411e-02 3.29476961e-03 9.96427012e-01 1.76696155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357105681 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:79.34, Z:17.67 [[ 7.60098585e-01 -6.46846589e-01 -6.19647601e-02 1.89747376e+02] [ 6.44306298e-01 7.62611184e-01 -5.73896941e-02 7.93350492e+01] [ 8.43773470e-02 3.69754012e-03 9.96427013e-01 1.76662318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:79.37, Z:17.67 [[ 7.60393498e-01 -6.46501221e-01 -6.19507873e-02 1.89789233e+02] [ 6.43958564e-01 7.62903703e-01 -5.74047735e-02 7.93745465e+01] [ 8.43747412e-02 3.75647654e-03 9.96427013e-01 1.76715444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:79.41, Z:17.68 [[ 7.59103112e-01 -6.48018132e-01 -6.19270961e-02 1.89835962e+02] [ 6.45478415e-01 7.61616291e-01 -5.74303197e-02 7.94099161e+01] [ 8.43805738e-02 3.62293061e-03 9.96427013e-01 1.76757771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099999 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:189.88, Y:79.45, Z:17.68 [[ 7.54691898e-01 -6.53152484e-01 -6.19029197e-02 1.89882392e+02] [ 6.50627741e-01 7.57220119e-01 -5.74563672e-02 7.94460623e+01] [ 8.44019052e-02 3.08609799e-03 9.96427014e-01 1.76763550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:189.92, Y:79.48, Z:17.68 [[ 7.47267000e-01 -6.61636393e-01 -6.18814434e-02 1.89924904e+02] [ 6.59138459e-01 7.49821712e-01 -5.74794883e-02 7.94844240e+01] [ 8.44305712e-02 2.16408549e-03 9.96427015e-01 1.76793751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:189.97, Y:79.52, Z:17.69 [[ 7.40691054e-01 -6.68991247e-01 -6.18665786e-02 1.89973243e+02] [ 6.66517354e-01 7.43269053e-01 -5.74954833e-02 7.95185981e+01] [ 8.44474883e-02 1.35124188e-03 9.96427015e-01 1.76854698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:79.56, Z:17.69 [[ 7.34912845e-01 -6.75335390e-01 -6.18483641e-02 1.90014385e+02] [ 6.72882108e-01 7.37510465e-01 -5.75150701e-02 7.95592260e+01] [ 8.44557781e-02 6.51906172e-04 9.96427015e-01 1.76896073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:79.60, Z:17.70 [[ 7.34326984e-01 -6.75974253e-01 -6.18279067e-02 1.90056109e+02] [ 6.73521379e-01 7.36924989e-01 -5.75370532e-02 7.95984743e+01] [ 8.44560960e-02 6.08593707e-04 9.96427016e-01 1.77010328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:79.64, Z:17.70 [[ 7.36407193e-01 -6.73708050e-01 -6.18215978e-02 1.90094234e+02] [ 6.71246613e-01 7.38997086e-01 -5.75438310e-02 7.96426265e+01] [ 8.44537228e-02 8.78152924e-04 9.96427016e-01 1.77037603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897105681 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:79.69, Z:17.71 [[ 7.44422274e-01 -6.64842850e-01 -6.18018003e-02 1.90132245e+02] [ 6.62348818e-01 7.46980793e-01 -5.75650857e-02 7.96857951e+01] [ 8.44364934e-02 1.91838266e-03 9.96427016e-01 1.77127673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:79.73, Z:17.73 [[ 7.51415895e-01 -6.56928805e-01 -6.17956154e-02 1.90172123e+02] [ 6.54407295e-01 7.53947338e-01 -5.75717243e-02 7.97275369e+01] [ 8.44111638e-02 2.82080724e-03 9.96427016e-01 1.77265672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:190.21, Y:79.77, Z:17.73 [[ 7.55370173e-01 -6.52379925e-01 -6.17764986e-02 1.90213500e+02] [ 6.49841505e-01 7.57884657e-01 -5.75922301e-02 7.97693170e+01] [ 8.43914752e-02 3.35851998e-03 9.96427017e-01 1.77339485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:79.81, Z:17.73 [[ 7.58865938e-01 -6.48312018e-01 -6.17577215e-02 1.90256453e+02] [ 6.45758492e-01 7.61365081e-01 -5.76123584e-02 7.98080837e+01] [ 8.43709569e-02 3.83948329e-03 9.96427017e-01 1.77308703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:79.85, Z:17.74 [[ 7.60403068e-01 -6.46509263e-01 -6.17490602e-02 1.90298483e+02] [ 6.43949063e-01 7.62895373e-01 -5.76216401e-02 7.98494472e+01] [ 8.43609964e-02 4.05242244e-03 9.96427017e-01 1.77378250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:190.34, Y:79.89, Z:17.74 [[ 7.62589274e-01 -6.43930843e-01 -6.17306098e-02 1.90341078e+02] [ 6.41360627e-01 7.65071248e-01 -5.76413994e-02 7.98901097e+01] [ 8.43453896e-02 4.36513027e-03 9.96427017e-01 1.77368589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:79.93, Z:17.74 [[ 7.63427558e-01 -6.42938508e-01 -6.17125462e-02 1.90384843e+02] [ 6.40363512e-01 7.65904572e-01 -5.76607324e-02 7.99291617e+01] [ 8.43382265e-02 4.50132934e-03 9.96427018e-01 1.77376992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:79.97, Z:17.74 [[ 7.61851462e-01 -6.44807308e-01 -6.16918685e-02 1.90432125e+02] [ 6.42236606e-01 7.64332932e-01 -5.76828473e-02 7.99651059e+01] [ 8.43474481e-02 4.32498527e-03 9.96427018e-01 1.77387939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:80.00, Z:17.75 [[ 7.51380988e-01 -6.56980185e-01 -6.16737198e-02 1.90482725e+02] [ 6.54448149e-01 7.53901898e-01 -5.77022452e-02 7.99962427e+01] [ 8.44051661e-02 2.99411826e-03 9.96427019e-01 1.77518512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437105681 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:80.03, Z:17.76 [[ 7.43014164e-01 -6.66429644e-01 -6.16561480e-02 1.90527063e+02] [ 6.63928134e-01 7.45565368e-01 -5.77210149e-02 8.00323286e+01] [ 8.44356841e-02 1.95228034e-03 9.96427019e-01 1.77630659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:80.07, Z:17.77 [[ 7.36407234e-01 -6.73723804e-01 -6.16491817e-02 1.90567799e+02] [ 6.71246949e-01 7.38982381e-01 -5.77284544e-02 8.00746574e+01] [ 8.44506929e-02 1.12982630e-03 9.96427019e-01 1.77678949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:80.12, Z:17.78 [[ 7.39494164e-01 -6.70335803e-01 -6.16302972e-02 1.90606594e+02] [ 6.67845472e-01 7.42056281e-01 -5.77486083e-02 8.01181139e+01] [ 8.44441088e-02 1.54524389e-03 9.96427019e-01 1.77776607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:80.16, Z:17.79 [[ 7.44964500e-01 -6.64252992e-01 -6.16105144e-02 1.90643219e+02] [ 6.61740005e-01 7.47504399e-01 -5.77697063e-02 8.01633844e+01] [ 8.44278309e-02 2.26623826e-03 9.96427020e-01 1.77887370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:80.21, Z:17.78 [[ 7.47342703e-01 -6.61578159e-01 -6.15891529e-02 1.90681041e+02] [ 6.59054210e-01 7.49871708e-01 -5.77924713e-02 8.02075931e+01] [ 8.44182000e-02 2.60019118e-03 9.96427020e-01 1.77766415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:80.25, Z:17.78 [[ 7.48904826e-01 -6.59810595e-01 -6.15754900e-02 1.90720864e+02] [ 6.57279483e-01 7.51426662e-01 -5.78070249e-02 8.02495675e+01] [ 8.44111524e-02 2.81965368e-03 9.96427020e-01 1.77780237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:80.29, Z:17.79 [[ 7.54109505e-01 -6.53857846e-01 -6.15529942e-02 1.90760983e+02] [ 6.51304890e-01 7.56609225e-01 -5.78309686e-02 8.02901079e+01] [ 8.43847958e-02 3.52111697e-03 9.96427021e-01 1.77897174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:80.33, Z:17.78 [[ 7.54110932e-01 -6.53857167e-01 -6.15427199e-02 1.90800697e+02] [ 6.51303320e-01 7.56609741e-01 -5.78419003e-02 8.03333056e+01] [ 8.43841624e-02 3.53623158e-03 9.96427021e-01 1.77820623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:190.84, Y:80.37, Z:17.79 [[ 7.52571647e-01 -6.55629161e-01 -6.15330809e-02 1.90842665e+02] [ 6.53080363e-01 7.55075604e-01 -5.78521526e-02 8.03736356e+01] [ 8.43916865e-02 3.35184294e-03 9.96427021e-01 1.77861142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:80.41, Z:17.80 [[ 7.47889294e-01 -6.60967392e-01 -6.15118707e-02 1.90884973e+02] [ 6.58434625e-01 7.50409465e-01 -5.78746958e-02 8.04120342e+01] [ 8.44123768e-02 2.78231985e-03 9.96427022e-01 1.78039093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:80.45, Z:17.81 [[ 7.40198809e-01 -6.69570199e-01 -6.14936751e-02 1.90926202e+02] [ 6.67065134e-01 7.42746518e-01 -5.78940228e-02 8.04528720e+01] [ 8.44383254e-02 1.83280017e-03 9.96427022e-01 1.78100669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:80.49, Z:17.81 [[ 7.37423010e-01 -6.72628055e-01 -6.14719816e-02 1.90965210e+02] [ 6.70131637e-01 7.39979192e-01 -5.79170479e-02 8.04949169e+01] [ 8.44446185e-02 1.51504409e-03 9.96427022e-01 1.78126990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:80.54, Z:17.81 [[ 7.36149522e-01 -6.74022584e-01 -6.14608571e-02 1.91003120e+02] [ 6.71530024e-01 7.38709466e-01 -5.79288507e-02 8.05406858e+01] [ 8.44470706e-02 1.37148494e-03 9.96427023e-01 1.78134504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217105681 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:80.58, Z:17.82 [[ 7.36930604e-01 -6.73170238e-01 -6.14419742e-02 1.91041525e+02] [ 6.70673048e-01 7.39486031e-01 -5.79488718e-02 8.05844100e+01] [ 8.44449375e-02 1.49682096e-03 9.96427023e-01 1.78239518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:80.63, Z:17.83 [[ 7.41690936e-01 -6.67923510e-01 -6.14226275e-02 1.91080419e+02] [ 6.65406553e-01 7.44226895e-01 -5.79693711e-02 8.06269745e+01] [ 8.44314772e-02 2.12433835e-03 9.96427023e-01 1.78307742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:80.67, Z:17.83 [[ 7.46211257e-01 -6.62870154e-01 -6.14159433e-02 1.91122384e+02] [ 6.60335448e-01 7.48729476e-01 -5.79764518e-02 8.06666580e+01] [ 8.44147866e-02 2.70755657e-03 9.96427023e-01 1.78340122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:80.71, Z:17.84 [[ 7.49298197e-01 -6.59380634e-01 -6.13953695e-02 1.91160964e+02] [ 6.56832423e-01 7.51802749e-01 -5.79982308e-02 8.07105673e+01] [ 8.44001178e-02 3.13150046e-03 9.96427024e-01 1.78401048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457105681 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:80.75, Z:17.85 [[ 7.50139697e-01 -6.58424821e-01 -6.13774386e-02 1.91202491e+02] [ 6.55871871e-01 7.52639418e-01 -5.80172003e-02 8.07496700e+01] [ 8.43950443e-02 3.26526962e-03 9.96427024e-01 1.78495359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517105681 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:80.79, Z:17.84 [[ 7.51457557e-01 -6.56922243e-01 -6.13572134e-02 1.91244513e+02] [ 6.54362555e-01 7.53950376e-01 -5.80385820e-02 8.07904037e+01] [ 8.43871296e-02 3.46366809e-03 9.96427025e-01 1.78440696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:191.29, Y:80.83, Z:17.85 [[ 7.57813137e-01 -6.49582253e-01 -6.13363290e-02 1.91287619e+02] [ 6.46996663e-01 7.60279080e-01 -5.80606447e-02 8.08291994e+01] [ 8.43478922e-02 4.31471910e-03 9.96427025e-01 1.78474562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637105681 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:80.87, Z:17.85 [[ 7.62580817e-01 -6.43979550e-01 -6.13256590e-02 1.91333776e+02] [ 6.41374956e-01 7.65026679e-01 -5.80719125e-02 8.08660985e+01] [ 8.43128893e-02 4.95178463e-03 9.96427025e-01 1.78468297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:191.38, Y:80.91, Z:17.84 [[ 7.60216373e-01 -6.46770701e-01 -6.13084526e-02 1.91376765e+02] [ 6.44173634e-01 7.62670226e-01 -5.80900723e-02 8.09064295e+01] [ 8.43290881e-02 4.66773537e-03 9.96427026e-01 1.78383760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:191.43, Y:80.94, Z:17.86 [[ 7.50693826e-01 -6.57801243e-01 -6.12886888e-02 1.91426784e+02] [ 6.55238584e-01 7.53183590e-01 -5.81109169e-02 8.09369292e+01] [ 8.43870680e-02 3.46479297e-03 9.96427026e-01 1.78596536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:80.97, Z:17.87 [[ 7.37943700e-01 -6.72075308e-01 -6.12688844e-02 1.91470926e+02] [ 6.69559131e-01 7.40480429e-01 -5.81317902e-02 8.09718300e+01] [ 8.44373505e-02 1.87484737e-03 9.96427026e-01 1.78684968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:81.01, Z:17.87 [[ 7.26625812e-01 -6.84297815e-01 -6.12489150e-02 1.91512024e+02] [ 6.81822552e-01 7.29202480e-01 -5.81528228e-02 8.10133626e+01] [ 8.44567102e-02 4.94450542e-04 9.96427027e-01 1.78733580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:191.55, Y:81.06, Z:17.87 [[ 7.19720644e-01 -6.91558213e-01 -6.12326044e-02 1.91549335e+02] [ 6.89107483e-01 7.22320655e-01 -5.81699922e-02 8.10600991e+01] [ 8.44575108e-02 -3.29701635e-04 9.96427027e-01 1.78723933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:191.59, Y:81.10, Z:17.89 [[ 7.21075465e-01 -6.90146871e-01 -6.12165855e-02 1.91586482e+02] [ 6.87689620e-01 7.23669315e-01 -5.81868451e-02 8.11042055e+01] [ 8.44580336e-02 -1.40904054e-04 9.96427027e-01 1.78865448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:191.62, Y:81.15, Z:17.89 [[ 7.17114585e-01 -6.94262534e-01 -6.12062603e-02 1.91622243e+02] [ 6.91819243e-01 7.19721587e-01 -5.81977041e-02 8.11525615e+01] [ 8.44559523e-02 -6.09246182e-04 9.96427027e-01 1.78900113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:191.66, Y:81.20, Z:17.90 [[ 7.12476239e-01 -6.99023538e-01 -6.11858032e-02 1.91658950e+02] [ 6.96595819e-01 7.15097748e-01 -5.82192037e-02 8.11955280e+01] [ 8.44504238e-02 -1.14197546e-03 9.96427028e-01 1.79001850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:81.25, Z:17.90 [[ 7.11422976e-01 -7.00096633e-01 -6.11723287e-02 1.91691087e+02] [ 6.97671651e-01 7.14047017e-01 -5.82333583e-02 8.12450378e+01] [ 8.44488969e-02 -1.24965053e-03 9.96427028e-01 1.79045290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:191.72, Y:81.30, Z:17.91 [[ 7.24529724e-01 -6.86525688e-01 -6.11486508e-02 1.91719341e+02] [ 6.84049448e-01 7.27105449e-01 -5.82582110e-02 8.12971996e+01] [ 8.44572756e-02 3.81104760e-04 9.96427029e-01 1.79130150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:81.35, Z:17.92 [[ 7.37866802e-01 -6.72171758e-01 -6.11368135e-02 1.91748592e+02] [ 6.69644408e-01 7.40392396e-01 -5.82706305e-02 8.13502618e+01] [ 8.44331040e-02 2.05603845e-03 9.96427029e-01 1.79180005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:81.40, Z:17.92 [[ 7.47094810e-01 -6.61902011e-01 -6.11152482e-02 1.91780738e+02] [ 6.59338126e-01 7.49583306e-01 -5.82932399e-02 8.14024408e+01] [ 8.43953825e-02 3.25496370e-03 9.96427029e-01 1.79213137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:81.45, Z:17.93 [[ 7.52676261e-01 -6.55549164e-01 -6.11043324e-02 1.91813908e+02] [ 6.52963365e-01 7.55141979e-01 -5.83046799e-02 8.14505781e+01] [ 8.43640306e-02 3.98565799e-03 9.96427029e-01 1.79260783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.86, Y:81.49, Z:17.92 [[ 7.55293497e-01 -6.52532846e-01 -6.10951627e-02 1.91858511e+02] [ 6.49936431e-01 7.57748032e-01 -5.83142868e-02 8.14904015e+01] [ 8.43467269e-02 4.33642963e-03 9.96427029e-01 1.79219028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:191.90, Y:81.53, Z:17.93 [[ 7.49668633e-01 -6.58988995e-01 -6.10773669e-02 1.91904246e+02] [ 6.56412221e-01 7.52143780e-01 -5.83329200e-02 8.15267119e+01] [ 8.43797139e-02 3.63843030e-03 9.96427030e-01 1.79299141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:81.56, Z:17.94 [[ 7.43324053e-01 -6.66139129e-01 -6.10574583e-02 1.91950521e+02] [ 6.63584473e-01 7.45822021e-01 -5.83537510e-02 8.15605397e+01] [ 8.44097138e-02 2.85896540e-03 9.96427030e-01 1.79390874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:81.60, Z:17.95 [[ 7.39468484e-01 -6.70417320e-01 -6.10489876e-02 1.91993689e+02] [ 6.67876390e-01 7.41980413e-01 -5.83626116e-02 8.15984326e+01] [ 8.44244587e-02 2.38413448e-03 9.96427030e-01 1.79454543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:192.03, Y:81.64, Z:17.95 [[ 7.36100782e-01 -6.74115184e-01 -6.10275086e-02 1.92033182e+02] [ 6.71585016e-01 7.38623551e-01 -5.83850628e-02 8.16400176e+01] [ 8.44346125e-02 1.99213002e-03 9.96427031e-01 1.79456171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:81.68, Z:17.96 [[ 7.24459607e-01 -6.86612421e-01 -6.10054200e-02 1.92072624e+02] [ 6.84123850e-01 7.27023416e-01 -5.84081337e-02 8.16793242e+01] [ 8.44561190e-02 5.79070776e-04 9.96427031e-01 1.79592473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:81.72, Z:17.97 [[ 7.20226423e-01 -6.91052678e-01 -6.09925929e-02 1.92110301e+02] [ 6.88578779e-01 7.22804393e-01 -5.84215253e-02 8.17233236e+01] [ 8.44580656e-02 7.85210285e-05 9.96427031e-01 1.79650669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:81.77, Z:17.97 [[ 7.18815705e-01 -6.92521791e-01 -6.09717203e-02 1.92151340e+02] [ 6.90051314e-01 7.21396954e-01 -5.84433010e-02 8.17656544e+01] [ 8.44580728e-02 -6.36530573e-05 9.96427032e-01 1.79681346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:192.19, Y:81.81, Z:17.97 [[ 7.18301701e-01 -6.93056658e-01 -6.09519150e-02 1.92188598e+02] [ 6.90586350e-01 7.20883111e-01 -5.84639492e-02 8.18102900e+01] [ 8.44580353e-02 -9.78063748e-05 9.96427032e-01 1.79684588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:81.85, Z:17.98 [[ 7.20610806e-01 -6.90656047e-01 -6.09449877e-02 1.92229200e+02] [ 6.88176529e-01 7.23183370e-01 -5.84711696e-02 8.18525010e+01] [ 8.44578684e-02 1.94046565e-04 9.96427032e-01 1.79781633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:81.90, Z:17.99 [[ 7.26629903e-01 -6.84322363e-01 -6.09252639e-02 1.92263299e+02] [ 6.81818701e-01 7.29178976e-01 -5.84917140e-02 8.18984536e+01] [ 8.44526095e-02 9.61844179e-04 9.96427033e-01 1.79912408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:81.94, Z:18.00 [[ 7.28903736e-01 -6.81900624e-01 -6.09170162e-02 1.92301590e+02] [ 6.79387776e-01 7.31443754e-01 -5.85003024e-02 8.19430104e+01] [ 8.44487637e-02 1.25481284e-03 9.96427033e-01 1.79985229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:81.99, Z:18.00 [[ 7.29409791e-01 -6.81360986e-01 -6.08979696e-02 1.92341486e+02] [ 6.78844605e-01 7.31946308e-01 -5.85201230e-02 8.19855427e+01] [ 8.44473727e-02 1.34489264e-03 9.96427033e-01 1.80015576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:82.03, Z:18.00 [[ 7.34942536e-01 -6.75391384e-01 -6.08764873e-02 1.92380283e+02] [ 6.72852557e-01 7.37456586e-01 -5.85424619e-02 8.20303667e+01] [ 8.44328408e-02 2.06444527e-03 9.96427034e-01 1.80005417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:192.42, Y:82.07, Z:18.00 [[ 7.41598074e-01 -6.68078361e-01 -6.08572108e-02 1.92420951e+02] [ 6.65513116e-01 7.44085161e-01 -5.85624937e-02 8.20733520e+01] [ 8.44072823e-02 2.92856053e-03 9.96427034e-01 1.79983880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:82.11, Z:18.01 [[ 7.46869447e-01 -6.62181932e-01 -6.08368205e-02 1.92463460e+02] [ 6.59595344e-01 7.49334329e-01 -5.85836683e-02 8.21117763e+01] [ 8.43801647e-02 3.62666842e-03 9.96427035e-01 1.80092723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:82.15, Z:18.01 [[ 7.45806593e-01 -6.63379431e-01 -6.08297334e-02 1.92510556e+02] [ 6.60796202e-01 7.48274997e-01 -5.85910262e-02 8.21463548e+01] [ 8.43854502e-02 3.50151677e-03 9.96427035e-01 1.80137221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:82.18, Z:18.02 [[ 7.40111916e-01 -6.69728909e-01 -6.08074062e-02 1.92559722e+02] [ 6.67164971e-01 7.42600349e-01 -5.86141889e-02 8.21773324e+01] [ 8.44112179e-02 2.81248830e-03 9.96427035e-01 1.80224712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:192.61, Y:82.21, Z:18.03 [[ 7.31418039e-01 -6.79213471e-01 -6.08006082e-02 1.92605981e+02] [ 6.76681237e-01 7.33938727e-01 -5.86212396e-02 8.22118915e+01] [ 8.44402566e-02 1.73400133e-03 9.96427035e-01 1.80283388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.66, Y:82.24, Z:18.04 [[ 7.28622128e-01 -6.82213877e-01 -6.07784595e-02 1.92655219e+02] [ 6.79690110e-01 7.31151292e-01 -5.86441945e-02 8.22431031e+01] [ 8.44461325e-02 1.41893989e-03 9.96427036e-01 1.80373887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:82.29, Z:18.04 [[ 7.36963974e-01 -6.73195956e-01 -6.07561194e-02 1.92692243e+02] [ 6.70639353e-01 7.39459940e-01 -5.86673300e-02 8.22888781e+01] [ 8.44213258e-02 2.49026405e-03 9.96427036e-01 1.80394513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:82.33, Z:18.04 [[ 7.43547619e-01 -6.65919232e-01 -6.07331460e-02 1.92735692e+02] [ 6.63336281e-01 7.46016309e-01 -5.86911029e-02 8.23264845e+01] [ 8.43914515e-02 3.35313058e-03 9.96427037e-01 1.80440483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:192.78, Y:82.37, Z:18.05 [[ 7.43541910e-01 -6.65926452e-01 -6.07238738e-02 1.92778471e+02] [ 6.63342744e-01 7.46009807e-01 -5.87006946e-02 8.23654034e+01] [ 8.43909507e-02 3.36568550e-03 9.96427037e-01 1.80491628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:82.40, Z:18.05 [[ 7.45563182e-01 -6.63664673e-01 -6.07020867e-02 1.92823845e+02] [ 6.61071652e-01 7.48021293e-01 -5.87232159e-02 8.24033169e+01] [ 8.43789773e-02 3.65343899e-03 9.96427037e-01 1.80528390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:192.87, Y:82.44, Z:18.06 [[ 7.44571932e-01 -6.64778313e-01 -6.06830574e-02 1.92869283e+02] [ 6.62187372e-01 7.47032234e-01 -5.87428737e-02 8.24382591e+01] [ 8.43831885e-02 3.55474063e-03 9.96427038e-01 1.80600510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:82.47, Z:18.06 [[ 7.48682195e-01 -6.60146921e-01 -6.06713587e-02 1.92914589e+02] [ 6.57539794e-01 7.51125339e-01 -5.87549541e-02 8.24744029e+01] [ 8.43586969e-02 4.09495534e-03 9.96427038e-01 1.80607200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:82.51, Z:18.07 [[ 7.49369151e-01 -6.59369077e-01 -6.06489507e-02 1.92959836e+02] [ 6.56757552e-01 7.51807592e-01 -5.87780754e-02 8.25104715e+01] [ 8.43527869e-02 4.21482011e-03 9.96427038e-01 1.80662255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:82.55, Z:18.06 [[ 7.49407586e-01 -6.59326337e-01 -6.06386930e-02 1.93001799e+02] [ 6.56713821e-01 7.51844965e-01 -5.87886559e-02 8.25530673e+01] [ 8.43518052e-02 4.23439696e-03 9.96427038e-01 1.80624373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:82.59, Z:18.07 [[ 7.47446684e-01 -6.61550165e-01 -6.06204043e-02 1.93046508e+02] [ 6.58943380e-01 7.49890191e-01 -5.88075084e-02 8.25910872e+01] [ 8.43627635e-02 4.01006301e-03 9.96427039e-01 1.80669739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:193.09, Y:82.63, Z:18.06 [[ 7.35351909e-01 -6.74970541e-01 -6.05998247e-02 1.93093589e+02] [ 6.72406667e-01 7.37840401e-01 -5.88287076e-02 8.26273894e+01] [ 8.44206436e-02 2.51207628e-03 9.96427039e-01 1.80645558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:193.14, Y:82.66, Z:18.08 [[ 7.21605386e-01 -6.89648930e-01 -6.05806939e-02 1.93139978e+02] [ 6.87134059e-01 7.24143391e-01 -5.88484017e-02 8.26629078e+01] [ 8.44538463e-02 8.38265497e-04 9.96427040e-01 1.80805087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:82.70, Z:18.08 [[ 7.15115660e-01 -6.96377661e-01 -6.05619218e-02 1.93185138e+02] [ 6.93885037e-01 7.17675517e-01 -5.88677141e-02 8.27008832e+01] [ 8.44579696e-02 7.42128447e-05 9.96427040e-01 1.80840750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:82.74, Z:18.10 [[ 7.13818546e-01 -6.97708825e-01 -6.05431953e-02 1.93222947e+02] [ 6.95219342e-01 7.16381457e-01 -5.88869673e-02 8.27434180e+01] [ 8.44579792e-02 -5.61909746e-05 9.96427040e-01 1.80964236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457105681 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:193.26, Y:82.79, Z:18.10 [[ 7.06460247e-01 -7.05160518e-01 -6.05191207e-02 1.93260226e+02] [ 7.02695945e-01 7.09047121e-01 -5.89116989e-02 8.27869602e+01] [ 8.44531124e-02 -9.07767364e-04 9.96427041e-01 1.81049162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:82.83, Z:18.10 [[ 6.95896706e-01 -7.15587937e-01 -6.05118106e-02 1.93296630e+02] [ 7.13161453e-01 6.98519341e-01 -5.89192066e-02 8.28326488e+01] [ 8.44305435e-02 -2.15300901e-03 9.96427041e-01 1.81042873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:82.89, Z:18.11 [[ 6.92867465e-01 -7.18521986e-01 -6.05047992e-02 1.93324985e+02] [ 7.16105978e-01 6.95499753e-01 -5.89264058e-02 8.28873860e+01] [ 8.44209910e-02 -2.49965901e-03 9.96427041e-01 1.81126936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:82.94, Z:18.11 [[ 6.90543853e-01 -7.20757027e-01 -6.04854944e-02 1.93354473e+02] [ 7.18347805e-01 6.93182353e-01 -5.89462147e-02 8.29397045e+01] [ 8.44133758e-02 -2.74467587e-03 9.96427041e-01 1.81148966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:83.00, Z:18.11 [[ 6.90780628e-01 -7.20531928e-01 -6.04637418e-02 1.93382653e+02] [ 7.18119898e-01 6.93416560e-01 -5.89685189e-02 8.29950445e+01] [ 8.44152605e-02 -2.68590554e-03 9.96427042e-01 1.81103874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:83.05, Z:18.11 [[ 6.91572552e-01 -7.19772423e-01 -6.04571326e-02 1.93409615e+02] [ 7.17356906e-01 6.94205289e-01 -5.89752943e-02 8.30513425e+01] [ 8.44184517e-02 -2.58364684e-03 9.96427042e-01 1.81121685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:83.11, Z:18.12 [[ 7.01334226e-01 -7.10265703e-01 -6.04395141e-02 1.93435544e+02] [ 7.07812920e-01 7.03932280e-01 -5.89933446e-02 8.31082226e+01] [ 8.44462744e-02 -1.40581730e-03 9.96427042e-01 1.81157320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:193.46, Y:83.17, Z:18.11 [[ 7.10686777e-01 -7.00908547e-01 -6.04277616e-02 1.93461141e+02] [ 6.98420524e-01 7.13251103e-01 -5.90053805e-02 8.31668648e+01] [ 8.44575431e-02 -2.69645287e-04 9.96427042e-01 1.81144383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:193.49, Y:83.22, Z:18.12 [[ 7.20663697e-01 -6.90648104e-01 -6.04072172e-02 1.93487396e+02] [ 6.88121813e-01 7.23190330e-01 -5.90264056e-02 8.32229110e+01] [ 8.44523904e-02 9.70663859e-04 9.96427043e-01 1.81161426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:83.28, Z:18.14 [[ 7.28794025e-01 -6.82063858e-01 -6.04000195e-02 1.93513385e+02] [ 6.79507208e-01 7.31289934e-01 -5.90337699e-02 8.32792631e+01] [ 8.44347271e-02 1.98121012e-03 9.96427043e-01 1.81375116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:83.32, Z:18.14 [[ 7.27605030e-01 -6.83333833e-01 -6.03803980e-02 1.93552686e+02] [ 6.80779876e-01 7.30103695e-01 -5.90538321e-02 8.33224645e+01] [ 8.44374331e-02 1.86210546e-03 9.96427043e-01 1.81389356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:83.36, Z:18.14 [[ 7.27855364e-01 -6.83067834e-01 -6.03730285e-02 1.93593088e+02] [ 6.80512340e-01 7.30352456e-01 -5.90613653e-02 8.33637015e+01] [ 8.44365085e-02 1.90354060e-03 9.96427043e-01 1.81413896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:193.63, Y:83.41, Z:18.14 [[ 7.34036172e-01 -6.76423597e-01 -6.03491237e-02 1.93629878e+02] [ 6.73843506e-01 7.36507841e-01 -5.90857813e-02 8.34117611e+01] [ 8.44146195e-02 2.70523563e-03 9.96427044e-01 1.81391705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:83.45, Z:18.14 [[ 7.37408976e-01 -6.72746602e-01 -6.03325001e-02 1.93673021e+02] [ 6.70152806e-01 7.39866259e-01 -5.91027509e-02 8.34512968e+01] [ 8.43991559e-02 3.15090478e-03 9.96427044e-01 1.81394571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:193.72, Y:83.49, Z:18.16 [[ 7.36133657e-01 -6.74142409e-01 -6.03262089e-02 1.93716579e+02] [ 6.71552748e-01 7.38595297e-01 -5.91091715e-02 8.34895538e+01] [ 8.44046535e-02 3.00001919e-03 9.96427044e-01 1.81566721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:83.53, Z:18.16 [[ 7.40151353e-01 -6.69729825e-01 -6.03153122e-02 1.93759442e+02] [ 6.67124592e-01 7.42596506e-01 -5.91202885e-02 8.35288888e+01] [ 8.43845606e-02 3.52013353e-03 9.96427044e-01 1.81608911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:193.80, Y:83.57, Z:18.15 [[ 7.46548064e-01 -6.62592524e-01 -6.03086694e-02 1.93803972e+02] [ 6.59963389e-01 7.48967499e-01 -5.91270641e-02 8.35673656e+01] [ 8.43463839e-02 4.33968140e-03 9.96427044e-01 1.81501199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:193.85, Y:83.61, Z:18.15 [[ 7.50721227e-01 -6.57862453e-01 -6.02879174e-02 1.93846329e+02] [ 6.55216397e-01 7.53122143e-01 -5.91482160e-02 8.36064586e+01] [ 8.43155560e-02 4.90218922e-03 9.96427045e-01 1.81535877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:83.64, Z:18.16 [[ 7.48292134e-01 -6.60626310e-01 -6.02640899e-02 1.93898305e+02] [ 6.57987182e-01 7.50700663e-01 -5.91724831e-02 8.36354680e+01] [ 8.43311914e-02 4.62530502e-03 9.96427045e-01 1.81611580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:83.67, Z:18.17 [[ 7.41272841e-01 -6.68493599e-01 -6.02568068e-02 1.93943439e+02] [ 6.65879459e-01 7.43708468e-01 -5.91798988e-02 8.36725464e+01] [ 8.43748810e-02 3.74468181e-03 9.96427045e-01 1.81693244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:83.71, Z:18.17 [[ 7.36683763e-01 -6.73549199e-01 -6.02371149e-02 1.93990892e+02] [ 6.70950149e-01 7.39135485e-01 -5.91999357e-02 8.37087582e+01] [ 8.43974584e-02 3.19553023e-03 9.96427046e-01 1.81714470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:83.74, Z:18.18 [[ 7.34325853e-01 -6.76121005e-01 -6.02156916e-02 1.94037225e+02] [ 6.73528761e-01 7.36784769e-01 -5.92217187e-02 8.37444962e+01] [ 8.44070523e-02 2.93103894e-03 9.96427046e-01 1.81809942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:83.78, Z:18.18 [[ 7.28872017e-01 -6.81998651e-01 -6.01948814e-02 1.94082783e+02] [ 6.79424501e-01 7.31349869e-01 -5.92428633e-02 8.37812885e+01] [ 8.44270714e-02 2.28258802e-03 9.96427047e-01 1.81788301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:194.13, Y:83.82, Z:18.19 [[ 7.16477594e-01 -6.95008855e-01 -6.01876084e-02 1.94129048e+02] [ 6.92479107e-01 7.19000761e-01 -5.92502513e-02 8.38164875e+01] [ 8.44543856e-02 7.72816224e-04 9.96427047e-01 1.81908924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:83.85, Z:18.19 [[ 7.00558967e-01 -7.11053518e-01 -6.01666615e-02 1.94175104e+02] [ 7.08579724e-01 7.03137015e-01 -5.92715147e-02 8.38532399e+01] [ 8.44506259e-02 -1.10968531e-03 9.96427047e-01 1.81928931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:83.89, Z:18.20 [[ 6.92756675e-01 -7.18658974e-01 -6.01453867e-02 1.94215065e+02] [ 7.16211599e-01 6.95359816e-01 -5.92930953e-02 8.38946738e+01] [ 8.44342001e-02 -2.00113600e-03 9.96427048e-01 1.81968568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:194.25, Y:83.94, Z:18.21 [[ 6.88138240e-01 -7.23084547e-01 -6.01207232e-02 1.94252496e+02] [ 7.20651726e-01 6.90754988e-01 -5.93180927e-02 8.39403385e+01] [ 8.44206855e-02 -2.50705510e-03 9.96427048e-01 1.82062181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:194.29, Y:83.99, Z:18.21 [[ 6.83304917e-01 -7.27655435e-01 -6.00995692e-02 1.94289094e+02] [ 7.25238232e-01 6.85936097e-01 -5.93395177e-02 8.39871665e+01] [ 8.44031865e-02 -3.03952112e-03 9.96427049e-01 1.82064269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:84.04, Z:18.22 [[ 6.79738880e-01 -7.30989452e-01 -6.00789150e-02 1.94322913e+02] [ 7.28583307e-01 6.82380176e-01 -5.93604219e-02 8.40363709e+01] [ 8.43885029e-02 -3.42290778e-03 9.96427049e-01 1.82160465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:84.09, Z:18.22 [[ 6.75095112e-01 -7.35282000e-01 -6.00580561e-02 1.94353699e+02] [ 7.32890771e-01 6.77749919e-01 -5.93815185e-02 8.40870776e+01] [ 8.43665043e-02 -3.92782207e-03 9.96427050e-01 1.82195076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.38, Y:84.14, Z:18.23 [[ 6.64831194e-01 -7.44577287e-01 -6.00345484e-02 1.94379200e+02] [ 7.42220990e-01 6.67517052e-01 -5.94052753e-02 8.41432157e+01] [ 8.43059035e-02 -5.06442185e-03 9.96427050e-01 1.82325783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:84.20, Z:18.24 [[ 6.63946991e-01 -7.45367481e-01 -6.00142554e-02 1.94404232e+02] [ 7.43012541e-01 6.66634039e-01 -5.94257693e-02 8.42001379e+01] [ 8.43015814e-02 -5.13578359e-03 9.96427051e-01 1.82391785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.43, Y:84.26, Z:18.24 [[ 6.66018328e-01 -7.43519079e-01 -5.99913766e-02 1.94431475e+02] [ 7.41154613e-01 6.68696996e-01 -5.94488570e-02 8.42551422e+01] [ 8.43174127e-02 -4.86885715e-03 9.96427051e-01 1.82444869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:84.32, Z:18.25 [[ 6.71798386e-01 -7.38302541e-01 -5.99690465e-02 1.94454023e+02] [ 7.35915256e-01 6.74456738e-01 -5.94713739e-02 8.43156769e+01] [ 8.43543940e-02 -4.17936323e-03 9.96427052e-01 1.82466755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:84.37, Z:18.25 [[ 6.83269469e-01 -7.27701131e-01 -5.99491195e-02 1.94478696e+02] [ 7.25270787e-01 6.85888513e-01 -5.94914543e-02 8.43725630e+01] [ 8.44104110e-02 -2.83065066e-03 9.96427052e-01 1.82527460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:84.43, Z:18.26 [[ 6.90013311e-01 -7.21310316e-01 -5.99421296e-02 1.94505747e+02] [ 7.18855091e-01 6.92609043e-01 -5.94984964e-02 8.44271060e+01] [ 8.44333402e-02 -2.03495059e-03 9.96427052e-01 1.82583356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:84.48, Z:18.26 [[ 6.98281621e-01 -7.13310886e-01 -5.99195869e-02 1.94533890e+02] [ 7.10823965e-01 7.00847001e-01 -5.95211900e-02 8.44813413e+01] [ 8.44515756e-02 -1.02972524e-03 9.96427053e-01 1.82626161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677105681 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:84.53, Z:18.26 [[ 7.13683586e-01 -6.97902690e-01 -5.98963579e-02 1.94563720e+02] [ 6.95358417e-01 7.16192096e-01 -5.95445562e-02 8.45337437e+01] [ 8.44536041e-02 8.46535805e-04 9.96427053e-01 1.82605898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737105681 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:84.58, Z:18.27 [[ 7.17410570e-01 -6.94071573e-01 -5.98892771e-02 1.94596719e+02] [ 6.91513311e-01 7.19904812e-01 -5.95516773e-02 8.45820988e+01] [ 8.44477051e-02 1.30877043e-03 9.96427053e-01 1.82675166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797105681 meters Centerline goodness : 0.997998 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:84.63, Z:18.28 [[ 7.15696529e-01 -6.95840904e-01 -5.98658067e-02 1.94635151e+02] [ 6.93286836e-01 7.18195065e-01 -5.95752622e-02 8.46262101e+01] [ 8.44502312e-02 1.13363271e-03 9.96427054e-01 1.82770692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857105681 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:194.68, Y:84.67, Z:18.28 [[ 7.11564911e-01 -7.00067103e-01 -5.98450507e-02 1.94676155e+02] [ 6.97526123e-01 7.14076755e-01 -5.95961050e-02 8.46674361e+01] [ 8.44552321e-02 6.63010946e-04 9.96427054e-01 1.82846297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917105681 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:194.72, Y:84.71, Z:18.29 [[ 7.05852084e-01 -7.05828454e-01 -5.98249845e-02 1.94717258e+02] [ 7.03306271e-01 7.08382801e-01 -5.96162414e-02 8.47091895e+01] [ 8.44578296e-02 4.96149642e-06 9.96427055e-01 1.82880527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:84.75, Z:18.29 [[ 7.00684473e-01 -7.10960397e-01 -5.98045372e-02 1.94762717e+02] [ 7.08454998e-01 7.03231807e-01 -5.96367463e-02 8.47468204e+01] [ 8.44558176e-02 -5.82281143e-04 9.96427055e-01 1.82904223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099999 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:84.79, Z:18.29 [[ 6.98708170e-01 -7.12904437e-01 -5.97842468e-02 1.94804812e+02] [ 7.10404385e-01 7.01260752e-01 -5.96570800e-02 8.47863154e+01] [ 8.44541429e-02 -7.88101877e-04 9.96427055e-01 1.82921834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097105681 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:84.82, Z:18.30 [[ 6.85564407e-01 -7.25553672e-01 -5.97771948e-02 1.94851406e+02] [ 7.23100068e-01 6.88161668e-01 -5.96641454e-02 8.48223782e+01] [ 8.44259138e-02 -2.32127912e-03 9.96427055e-01 1.83003965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:84.86, Z:18.31 [[ 6.77137950e-01 -7.33425732e-01 -5.97569449e-02 1.94895345e+02] [ 7.31000515e-01 6.79761736e-01 -5.96844199e-02 8.48591014e+01] [ 8.43945740e-02 -3.26777170e-03 9.96427056e-01 1.83101054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:84.90, Z:18.33 [[ 6.73783047e-01 -7.36509574e-01 -5.97499237e-02 1.94937077e+02] [ 7.34095740e-01 6.76417309e-01 -5.96914481e-02 8.48999265e+01] [ 8.43792055e-02 -3.64307864e-03 9.96427056e-01 1.83252723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:194.98, Y:84.94, Z:18.33 [[ 6.74354906e-01 -7.35987525e-01 -5.97312594e-02 1.94975951e+02] [ 7.33570004e-01 6.76985784e-01 -5.97101189e-02 8.49426692e+01] [ 8.43831161e-02 -3.55124856e-03 9.96427056e-01 1.83250419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337105681 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:84.99, Z:18.34 [[ 6.72390854e-01 -7.37782878e-01 -5.97240677e-02 1.95010439e+02] [ 7.35371743e-01 6.75027586e-01 -5.97173115e-02 8.49886128e+01] [ 8.43738032e-02 -3.76601775e-03 9.96427056e-01 1.83374791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397105681 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:85.04, Z:18.34 [[ 6.83343399e-01 -7.27652135e-01 -5.97006638e-02 1.95041824e+02] [ 7.25199825e-01 6.85941880e-01 -5.97406998e-02 8.50383859e+01] [ 8.44216333e-02 -2.47149802e-03 9.96427057e-01 1.83448942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457105681 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:85.09, Z:18.35 [[ 6.94042968e-01 -7.17454553e-01 -5.96935764e-02 1.95073392e+02] [ 7.14963429e-01 6.96604262e-01 -5.97477808e-02 8.50880312e+01] [ 8.44491170e-02 -1.21119690e-03 9.96427057e-01 1.83517401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517105681 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:85.14, Z:18.35 [[ 7.05462903e-01 -7.06230458e-01 -5.96710280e-02 1.95108645e+02] [ 7.03696670e-01 7.07981998e-01 -5.97702918e-02 8.51371302e+01] [ 8.44576141e-02 1.75419856e-04 9.96427057e-01 1.83453315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577105681 meters Centerline goodness : 0.997775 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:85.18, Z:18.34 [[ 7.18390475e-01 -6.93077783e-01 -5.96515855e-02 1.95148555e+02] [ 6.90496282e-01 7.20860651e-01 -5.97896894e-02 8.51810770e+01] [ 8.44393861e-02 1.76314542e-03 9.96427058e-01 1.83425210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637105681 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:85.22, Z:18.35 [[ 7.22541652e-01 -6.88750742e-01 -5.96320153e-02 1.95190946e+02] [ 6.86152844e-01 7.24994576e-01 -5.98092016e-02 8.52211076e+01] [ 8.44265197e-02 2.29796243e-03 9.96427058e-01 1.83450744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:85.26, Z:18.35 [[ 7.22535788e-01 -6.88758593e-01 -5.96123808e-02 1.95238008e+02] [ 6.86159109e-01 7.24987032e-01 -5.98287652e-02 8.52572779e+01] [ 8.44257791e-02 2.32484599e-03 9.96427059e-01 1.83462978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099998 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:195.29, Y:85.29, Z:18.36 [[ 7.20263997e-01 -6.91135647e-01 -5.95927104e-02 1.95287825e+02] [ 6.88542636e-01 7.22722086e-01 -5.98483516e-02 8.52879234e+01] [ 8.44322972e-02 2.07449102e-03 9.96427059e-01 1.83581460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817105681 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:85.32, Z:18.37 [[ 7.19627579e-01 -6.91798869e-01 -5.95858385e-02 1.95337005e+02] [ 6.89207557e-01 7.22087459e-01 -5.98551927e-02 8.53205701e+01] [ 8.44339413e-02 2.00643721e-03 9.96427059e-01 1.83701290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877105681 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:85.36, Z:18.38 [[ 7.17491295e-01 -6.94015891e-01 -5.95666455e-02 1.95384297e+02] [ 6.91430597e-01 7.19957499e-01 -5.98742870e-02 8.53552952e+01] [ 8.44391597e-02 1.77307848e-03 9.96427059e-01 1.83783202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:85.39, Z:18.38 [[ 7.06880621e-01 -7.04821890e-01 -5.95473793e-02 1.95432966e+02] [ 7.02272698e-01 7.09384123e-01 -5.98934420e-02 8.53881249e+01] [ 8.44561744e-02 5.19014806e-04 9.96427060e-01 1.83827962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:85.42, Z:18.39 [[ 7.04722923e-01 -7.06980140e-01 -5.95372501e-02 1.95479835e+02] [ 7.04437764e-01 7.07233346e-01 -5.99035093e-02 8.54242678e+01] [ 8.44573200e-02 2.75088784e-04 9.96427060e-01 1.83893233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:85.46, Z:18.38 [[ 7.14446796e-01 -6.97153808e-01 -5.95175904e-02 1.95524729e+02] [ 6.94575287e-01 7.16920080e-01 -5.99230360e-02 8.54616269e+01] [ 8.44449283e-02 1.47237369e-03 9.96427060e-01 1.83846970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:85.50, Z:18.40 [[ 7.23813816e-01 -6.87424204e-01 -5.95106977e-02 1.95569813e+02] [ 6.84811897e-01 7.26251386e-01 -5.99298804e-02 8.54990620e+01] [ 8.44169771e-02 2.62444164e-03 9.96427060e-01 1.83950768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:195.61, Y:85.54, Z:18.41 [[ 7.28142532e-01 -6.82839117e-01 -5.94911166e-02 1.95613492e+02] [ 6.80209884e-01 7.30561835e-01 -5.99493119e-02 8.55374020e+01] [ 8.43976745e-02 3.18519828e-03 9.96427061e-01 1.84058150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:85.57, Z:18.41 [[ 7.25059958e-01 -6.86113090e-01 -5.94717188e-02 1.95659988e+02] [ 6.83493209e-01 7.27489385e-01 -5.99685491e-02 8.55734417e+01] [ 8.44102507e-02 2.83227771e-03 9.96427061e-01 1.84087073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:85.61, Z:18.41 [[ 7.19419185e-01 -6.92027283e-01 -5.94497818e-02 1.95704824e+02] [ 6.89425589e-01 7.21868078e-01 -5.99902885e-02 8.56112596e+01] [ 8.44298161e-02 2.17196361e-03 9.96427061e-01 1.84091850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:85.65, Z:18.42 [[ 7.12987160e-01 -6.98653070e-01 -5.94407020e-02 1.95750111e+02] [ 6.96073393e-01 7.15459235e-01 -5.99992837e-02 8.56478420e+01] [ 8.44460830e-02 1.40362774e-03 9.96427062e-01 1.84180351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:195.80, Y:85.69, Z:18.42 [[ 7.08294443e-01 -7.03411795e-01 -5.94207797e-02 1.95796970e+02] [ 7.00847075e-01 7.10782031e-01 -6.00190076e-02 8.56855866e+01] [ 8.44533003e-02 8.66249869e-04 9.96427062e-01 1.84151615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:85.73, Z:18.43 [[ 7.08600141e-01 -7.03105372e-01 -5.94026595e-02 1.95839934e+02] [ 7.00538074e-01 7.11085068e-01 -6.00369364e-02 8.57254502e+01] [ 8.44526366e-02 9.28356929e-04 9.96427062e-01 1.84288234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:85.76, Z:18.42 [[ 7.15370888e-01 -6.96217026e-01 -5.93830362e-02 1.95885964e+02] [ 6.93624198e-01 7.17829164e-01 -6.00563397e-02 8.57624031e+01] [ 8.44391215e-02 1.77304615e-03 9.96427063e-01 1.84237620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:195.93, Y:85.80, Z:18.43 [[ 7.18285021e-01 -6.93211773e-01 -5.93638534e-02 1.95927802e+02] [ 6.90607096e-01 7.20730739e-01 -6.00752953e-02 8.58020011e+01] [ 8.44302559e-02 2.15408635e-03 9.96427063e-01 1.84290261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:85.84, Z:18.44 [[ 7.17853162e-01 -6.93661109e-01 -5.93388871e-02 1.95972480e+02] [ 6.91055927e-01 7.20298342e-01 -6.00999456e-02 8.58378521e+01] [ 8.44306969e-02 2.13644635e-03 9.96427064e-01 1.84421611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:85.88, Z:18.46 [[ 7.08864978e-01 -7.02844646e-01 -5.93282976e-02 1.96014233e+02] [ 7.00270283e-01 7.11342584e-01 -6.01103973e-02 8.58773402e+01] [ 8.44510154e-02 1.06431178e-03 9.96427064e-01 1.84561055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.06, Y:85.91, Z:18.46 [[ 7.04722570e-01 -7.06998670e-01 -5.93209907e-02 1.96059953e+02] [ 7.04438306e-01 7.07214639e-01 -6.01176074e-02 8.59137142e+01] [ 8.44557415e-02 5.78256620e-04 9.96427064e-01 1.84610104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:85.95, Z:18.46 [[ 7.11274076e-01 -7.00409120e-01 -5.92980064e-02 1.96103001e+02] [ 6.97823784e-01 7.13740229e-01 -6.01402698e-02 8.59543403e+01] [ 8.44461661e-02 1.39665561e-03 9.96427064e-01 1.84610897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:85.99, Z:18.47 [[ 7.15887790e-01 -6.95694465e-01 -5.92780134e-02 1.96146526e+02] [ 6.93091262e-01 7.18335075e-01 -6.01599698e-02 8.59924173e+01] [ 8.44344342e-02 1.98271474e-03 9.96427065e-01 1.84668622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:86.03, Z:18.47 [[ 7.18452299e-01 -6.93047730e-01 -5.92548521e-02 1.96192507e+02] [ 6.90433635e-01 7.20887945e-01 -6.01827740e-02 8.60278047e+01] [ 8.44256435e-02 2.32690936e-03 9.96427065e-01 1.84710631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:86.06, Z:18.47 [[ 7.21350277e-01 -6.90032888e-01 -5.92316744e-02 1.96244461e+02] [ 6.87406747e-01 7.23772929e-01 -6.02055769e-02 8.60601065e+01] [ 8.44141106e-02 2.71305706e-03 9.96427066e-01 1.84687799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.29, Y:86.09, Z:18.47 [[ 7.25657959e-01 -6.85503178e-01 -5.92108044e-02 1.96293069e+02] [ 6.82860251e-01 7.28062288e-01 -6.02260951e-02 8.60938854e+01] [ 8.43943333e-02 3.27084049e-03 9.96427066e-01 1.84743199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.34, Y:86.13, Z:18.48 [[ 7.32461254e-01 -6.78231047e-01 -5.91874896e-02 1.96342753e+02] [ 6.75562428e-01 7.34837033e-01 -6.02489992e-02 8.61261852e+01] [ 8.43559010e-02 4.14521331e-03 9.96427067e-01 1.84779537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:196.39, Y:86.16, Z:18.47 [[ 7.31362460e-01 -6.79417818e-01 -5.91640088e-02 1.96393973e+02] [ 6.76751199e-01 7.33740482e-01 -6.02720484e-02 8.61582441e+01] [ 8.43609320e-02 4.04139975e-03 9.96427067e-01 1.84745315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:86.19, Z:18.48 [[ 7.26482928e-01 -6.84633533e-01 -5.91564152e-02 1.96444877e+02] [ 6.81983392e-01 7.28879300e-01 -6.02795005e-02 8.61888639e+01] [ 8.43872539e-02 3.44833531e-03 9.96427067e-01 1.84804582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:86.22, Z:18.50 [[ 7.17288843e-01 -6.94260842e-01 -5.91489496e-02 1.96497552e+02] [ 6.91642292e-01 7.19719695e-01 -6.02868253e-02 8.62181514e+01] [ 8.44254460e-02 2.33315212e-03 9.96427067e-01 1.84967212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:86.25, Z:18.50 [[ 7.09848024e-01 -7.01868652e-01 -5.91284823e-02 1.96546382e+02] [ 6.99274496e-01 7.12304892e-01 -6.03068927e-02 8.62517129e+01] [ 8.44450246e-02 1.46168902e-03 9.96427068e-01 1.85022672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:86.29, Z:18.50 [[ 7.03919538e-01 -7.07816005e-01 -5.91082632e-02 1.96596050e+02] [ 7.05240947e-01 7.06396415e-01 -6.03267034e-02 8.62855849e+01] [ 8.44540714e-02 7.79577677e-04 9.96427068e-01 1.85030868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:86.32, Z:18.51 [[ 6.95134744e-01 -7.16446967e-01 -5.90883342e-02 1.96638584e+02] [ 7.13901005e-01 6.97641519e-01 -6.03462170e-02 8.63244621e+01] [ 8.44573394e-02 -2.34469047e-04 9.96427069e-01 1.85065086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:86.36, Z:18.51 [[ 6.81577588e-01 -7.29358167e-01 -5.90648352e-02 1.96680223e+02] [ 7.26857677e-01 6.84129722e-01 -6.03692084e-02 8.63645687e+01] [ 8.44387844e-02 -1.78542944e-03 9.96427069e-01 1.85135585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:86.41, Z:18.52 [[ 6.73571553e-01 -7.36760211e-01 -5.90402809e-02 1.96715854e+02] [ 7.34285650e-01 6.76148833e-01 -6.03932127e-02 8.64115532e+01] [ 8.44153332e-02 -2.67328095e-03 9.96427070e-01 1.85211549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:86.46, Z:18.53 [[ 6.73266938e-01 -7.37040258e-01 -5.90193918e-02 1.96749022e+02] [ 7.34564983e-01 6.75843533e-01 -6.04136197e-02 8.64605819e+01] [ 8.44151441e-02 -2.67908578e-03 9.96427070e-01 1.85282158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:86.51, Z:18.53 [[ 6.73415611e-01 -7.36906069e-01 -5.89988118e-02 1.96782636e+02] [ 7.34428523e-01 6.75990023e-01 -6.04337112e-02 8.65083486e+01] [ 8.44165767e-02 -2.63340569e-03 9.96427070e-01 1.85326383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:196.81, Y:86.56, Z:18.53 [[ 6.76355139e-01 -7.34210938e-01 -5.89747808e-02 1.96812428e+02] [ 7.31721090e-01 6.78917653e-01 -6.04571530e-02 8.65613719e+01] [ 8.44273228e-02 -2.26258478e-03 9.96427071e-01 1.85330964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:196.85, Y:86.61, Z:18.55 [[ 6.76191968e-01 -7.34362930e-01 -5.89534485e-02 1.96846194e+02] [ 7.31871847e-01 6.78753281e-01 -6.04779476e-02 8.66076197e+01] [ 8.44276094e-02 -2.25166688e-03 9.96427071e-01 1.85463344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:196.88, Y:86.66, Z:18.55 [[ 6.73648703e-01 -7.36697512e-01 -5.89423581e-02 1.96879668e+02] [ 7.34214359e-01 6.76217705e-01 -6.04887545e-02 8.66565290e+01] [ 8.44197811e-02 -2.52815473e-03 9.96427072e-01 1.85483646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:86.71, Z:18.55 [[ 6.76772749e-01 -7.33830457e-01 -5.89194893e-02 1.96910760e+02] [ 7.31334483e-01 6.79329294e-01 -6.05110219e-02 8.67087086e+01] [ 8.44305660e-02 -2.13764363e-03 9.96427072e-01 1.85519795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:86.76, Z:18.56 [[ 6.89480363e-01 -7.21905589e-01 -5.88994935e-02 1.96940331e+02] [ 7.19363708e-01 6.91991269e-01 -6.05304789e-02 8.67621983e+01] [ 8.44552263e-02 -6.35581473e-04 9.96427072e-01 1.85573279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:86.81, Z:18.56 [[ 7.05229179e-01 -7.06530252e-01 -5.88796044e-02 1.96971891e+02] [ 7.03932021e-01 7.07681729e-01 -6.05498194e-02 8.68126402e+01] [ 8.44482995e-02 1.25426055e-03 9.96427073e-01 1.85638899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:86.86, Z:18.57 [[ 7.15005261e-01 -6.96636977e-01 -5.88591487e-02 1.97005472e+02] [ 6.94003197e-01 7.17419594e-01 -6.05696976e-02 8.68599542e+01] [ 8.44217976e-02 2.45921504e-03 9.96427073e-01 1.85716455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:86.90, Z:18.58 [[ 7.16410644e-01 -6.95193631e-01 -5.88354028e-02 1.97046766e+02] [ 6.92553097e-01 7.18817589e-01 -6.05927548e-02 8.69016459e+01] [ 8.44156196e-02 2.66265412e-03 9.96427074e-01 1.85766119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.09, Y:86.94, Z:18.58 [[ 7.15652913e-01 -6.95975402e-01 -5.88145233e-02 1.97090080e+02] [ 6.93335835e-01 7.18060918e-01 -6.06130148e-02 8.69423586e+01] [ 8.44175779e-02 2.59966398e-03 9.96427074e-01 1.85774798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:86.98, Z:18.58 [[ 7.13277641e-01 -6.98411098e-01 -5.87957986e-02 1.97135861e+02] [ 6.95778261e-01 7.15693002e-01 -6.06311727e-02 8.69798335e+01] [ 8.44252255e-02 2.33802130e-03 9.96427075e-01 1.85767009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:87.02, Z:18.59 [[ 7.07810751e-01 -7.03952692e-01 -5.87754107e-02 1.97180385e+02] [ 7.01337133e-01 7.10244810e-01 -6.06509302e-02 8.70179605e+01] [ 8.44403160e-02 1.70800239e-03 9.96427075e-01 1.85855125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.22, Y:87.06, Z:18.59 [[ 7.04753070e-01 -7.07015583e-01 -5.87543734e-02 1.97222086e+02] [ 7.04408907e-01 7.07196638e-01 -6.06713029e-02 8.70594350e+01] [ 8.44464519e-02 1.37118301e-03 9.96427075e-01 1.85912945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:87.10, Z:18.59 [[ 7.00517203e-01 -7.11214491e-01 -5.87332626e-02 1.97265432e+02] [ 7.08620751e-01 7.02974498e-01 -6.06917326e-02 8.70978800e+01] [ 8.44528255e-02 8.95994097e-04 9.96427076e-01 1.85915733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:87.13, Z:18.60 [[ 6.89270725e-01 -7.22119891e-01 -5.87258944e-02 1.97312279e+02] [ 7.19564424e-01 6.91767799e-01 -6.06988612e-02 8.71344625e+01] [ 8.44565378e-02 -4.19116336e-04 9.96427076e-01 1.85950561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:87.18, Z:18.60 [[ 6.81201198e-01 -7.29738830e-01 -5.87040650e-02 1.97352509e+02] [ 7.27209467e-01 6.83724709e-01 -6.07199659e-02 8.71751804e+01] [ 8.44471367e-02 -1.32763831e-03 9.96427076e-01 1.86011070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:87.22, Z:18.61 [[ 6.77036219e-01 -7.33606686e-01 -5.86786805e-02 1.97392629e+02] [ 7.31089613e-01 6.79571987e-01 -6.07444873e-02 8.72156311e+01] [ 8.44389495e-02 -1.77315576e-03 9.96427077e-01 1.86124414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:87.26, Z:18.61 [[ 6.67682027e-01 -7.42131004e-01 -5.86709728e-02 1.97429664e+02] [ 7.39645628e-01 6.70248870e-01 -6.07519310e-02 8.72624046e+01] [ 8.44100448e-02 -2.83275607e-03 9.96427077e-01 1.86115408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:87.30, Z:18.62 [[ 6.64851416e-01 -7.44669610e-01 -5.86495227e-02 1.97467981e+02] [ 7.42192210e-01 6.67425958e-01 -6.07726318e-02 8.73047364e+01] [ 8.43997459e-02 -3.12444858e-03 9.96427077e-01 1.86211130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:87.35, Z:18.62 [[ 6.55152119e-01 -7.53217627e-01 -5.86421979e-02 1.97499569e+02] [ 7.50773149e-01 6.57757940e-01 -6.07796990e-02 8.73544346e+01] [ 8.43527119e-02 -4.20703896e-03 9.96427078e-01 1.86241516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:87.40, Z:18.63 [[ 6.51657695e-01 -7.56244668e-01 -5.86195451e-02 1.97531312e+02] [ 7.53810335e-01 6.54272995e-01 -6.08015388e-02 8.74046861e+01] [ 8.43340249e-02 -4.56622824e-03 9.96427078e-01 1.86292555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:87.46, Z:18.63 [[ 6.52611481e-01 -7.55423524e-01 -5.85965319e-02 1.97561931e+02] [ 7.52983921e-01 6.55221865e-01 -6.08237095e-02 8.74577453e+01] [ 8.43413898e-02 -4.42799516e-03 9.96427079e-01 1.86298595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:87.51, Z:18.63 [[ 6.51984491e-01 -7.55965537e-01 -5.85860923e-02 1.97593120e+02] [ 7.53527205e-01 6.54596062e-01 -6.08337633e-02 8.75082359e+01] [ 8.43384539e-02 -4.48354420e-03 9.96427079e-01 1.86340244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:87.57, Z:18.65 [[ 6.52375799e-01 -7.55628434e-01 -5.85788933e-02 1.97616039e+02] [ 7.53188133e-01 6.54985531e-01 -6.08406947e-02 8.75661752e+01] [ 8.43412864e-02 -4.42993038e-03 9.96427079e-01 1.86452044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:87.62, Z:18.65 [[ 6.59814973e-01 -7.49142898e-01 -5.85586796e-02 1.97642039e+02] [ 7.46675200e-01 6.62398813e-01 -6.08601440e-02 8.76204954e+01] [ 8.43821446e-02 -3.56787955e-03 9.96427079e-01 1.86475276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:87.68, Z:18.65 [[ 6.69573442e-01 -7.40434629e-01 -5.85488317e-02 1.97668251e+02] [ 7.37932466e-01 6.72123921e-01 -6.08696164e-02 8.76753458e+01] [ 8.44220422e-02 -2.44840520e-03 9.96427079e-01 1.86537324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:87.73, Z:18.66 [[ 6.82352924e-01 -7.28675042e-01 -5.85420283e-02 1.97696446e+02] [ 7.26128330e-01 6.84858921e-01 -6.08761591e-02 8.77286057e+01] [ 8.44519681e-02 -9.70000043e-04 9.96427079e-01 1.86572390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357105681 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:87.78, Z:18.66 [[ 6.89860601e-01 -7.21573135e-01 -5.85197666e-02 1.97727672e+02] [ 7.18998805e-01 6.92338217e-01 -6.08975516e-02 8.77798886e+01] [ 8.44575081e-02 -6.48207009e-05 9.96427080e-01 1.86581774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417105681 meters Centerline goodness : 0.998340 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:87.83, Z:18.66 [[ 6.96136864e-01 -7.15521744e-01 -5.84987231e-02 1.97762613e+02] [ 7.12924180e-01 6.98590109e-01 -6.09177594e-02 8.78275349e+01] [ 8.44546109e-02 7.01943795e-04 9.96427080e-01 1.86574391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:87.87, Z:18.66 [[ 6.97941919e-01 -7.13763077e-01 -5.84751921e-02 1.97800809e+02] [ 7.11157439e-01 7.00386588e-01 -6.09403387e-02 8.78706643e+01] [ 8.44522039e-02 9.47749119e-04 9.96427081e-01 1.86625250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099999 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:197.84, Y:87.91, Z:18.66 [[ 6.94685491e-01 -7.16933737e-01 -5.84643914e-02 1.97843462e+02] [ 7.14338387e-01 6.97141077e-01 -6.09506989e-02 8.79123314e+01] [ 8.44555411e-02 5.78207151e-04 9.96427081e-01 1.86616048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597105681 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:87.95, Z:18.67 [[ 6.90948251e-01 -7.20537754e-01 -5.84453504e-02 1.97887322e+02] [ 7.17953668e-01 6.93415689e-01 -6.09689517e-02 8.79504986e+01] [ 8.44573544e-02 1.65336872e-04 9.96427081e-01 1.86666478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657105681 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:87.99, Z:18.67 [[ 6.85036777e-01 -7.26162123e-01 -5.84224648e-02 1.97930053e+02] [ 7.23596425e-01 6.87523329e-01 -6.09908736e-02 8.79888725e+01] [ 8.44560698e-02 -4.93295183e-04 9.96427082e-01 1.86732969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.717105681 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:88.02, Z:18.68 [[ 6.73638156e-01 -7.36750422e-01 -5.83990618e-02 1.97978472e+02] [ 7.34221848e-01 6.76162450e-01 -6.10132739e-02 8.80228926e+01] [ 8.44388080e-02 -1.77699775e-03 9.96427082e-01 1.86835227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777105681 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:88.06, Z:18.69 [[ 6.65128332e-01 -7.44443575e-01 -5.83786311e-02 1.98021201e+02] [ 7.41942467e-01 6.67679841e-01 -6.10328163e-02 8.80613289e+01] [ 8.44137231e-02 -2.71893027e-03 9.96427083e-01 1.86914331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837105681 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:88.10, Z:18.70 [[ 6.56084122e-01 -7.52427000e-01 -5.83715276e-02 1.98063501e+02] [ 7.49956306e-01 6.58665093e-01 -6.10396092e-02 8.81002918e+01] [ 8.43751377e-02 -3.72897678e-03 9.96427083e-01 1.86955311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:88.14, Z:18.70 [[ 6.49896915e-01 -7.57779271e-01 -5.83487524e-02 1.98102850e+02] [ 7.55327872e-01 6.52496218e-01 -6.10613727e-02 8.81432244e+01] [ 8.43433828e-02 -4.38884128e-03 9.96427083e-01 1.86997303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:88.19, Z:18.71 [[ 6.57136493e-01 -7.51511386e-01 -5.83289544e-02 1.98137394e+02] [ 7.49033498e-01 6.59710557e-01 -6.10802789e-02 8.81909242e+01] [ 8.43827521e-02 -3.55226044e-03 9.96427083e-01 1.87094670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017105681 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:88.24, Z:18.71 [[ 6.72097267e-01 -7.38163520e-01 -5.83085012e-02 1.98168840e+02] [ 7.35632749e-01 6.74619354e-01 -6.10997978e-02 8.82399270e+01] [ 8.44376853e-02 -1.82863592e-03 9.96427084e-01 1.87108968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077105681 meters Centerline goodness : 0.998152 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:88.29, Z:18.71 [[ 6.87160881e-01 -7.24162420e-01 -5.82984789e-02 1.98202176e+02] [ 7.21579423e-01 6.89629454e-01 -6.11093591e-02 8.82880420e+01] [ 8.44574496e-02 -7.50216864e-05 9.96427084e-01 1.87114125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137105681 meters Centerline goodness : 0.998154 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:88.33, Z:18.71 [[ 6.96735021e-01 -7.14957587e-01 -5.82748580e-02 1.98237181e+02] [ 7.12340097e-01 6.99166990e-01 -6.11318762e-02 8.83344063e+01] [ 8.44505557e-02 1.08120105e-03 9.96427084e-01 1.87113320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:198.28, Y:88.37, Z:18.72 [[ 6.99427725e-01 -7.12324476e-01 -5.82640500e-02 1.98280528e+02] [ 7.09696974e-01 7.01848873e-01 -6.11421754e-02 8.83730075e+01] [ 8.44456258e-02 1.41471266e-03 9.96427085e-01 1.87204206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099998 meters Centerline goodness : 0.998314 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:88.41, Z:18.73 [[ 7.00672014e-01 -7.11102245e-01 -5.82436748e-02 1.98323484e+02] [ 7.08468908e-01 7.03086814e-01 -6.11615785e-02 8.84113870e+01] [ 8.44424956e-02 1.59037368e-03 9.96427085e-01 1.87278655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317105681 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:88.44, Z:18.73 [[ 6.99602765e-01 -7.12156169e-01 -5.82199384e-02 1.98372514e+02] [ 7.09524592e-01 7.02019481e-01 -6.11841650e-02 8.84441875e+01] [ 8.44442116e-02 1.49613299e-03 9.96427086e-01 1.87333121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377105681 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:88.48, Z:18.74 [[ 6.96566724e-01 -7.15127951e-01 -5.81963400e-02 1.98420642e+02] [ 7.12504810e-01 6.98992594e-01 -6.12066029e-02 8.84774779e+01] [ 8.44493632e-02 1.16931070e-03 9.96427086e-01 1.87393110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:198.47, Y:88.51, Z:18.74 [[ 6.90689972e-01 -7.20807450e-01 -5.81720103e-02 1.98470700e+02] [ 7.18202314e-01 6.93135166e-01 -6.12297177e-02 8.85106199e+01] [ 8.44559027e-02 5.11479589e-04 9.96427087e-01 1.87365479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:88.54, Z:18.75 [[ 6.77352638e-01 -7.33356623e-01 -5.81503916e-02 1.98521318e+02] [ 7.30795019e-01 6.79843399e-01 -6.12502423e-02 8.85433147e+01] [ 8.44514308e-02 -1.00800339e-03 9.96427087e-01 1.87452231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:198.57, Y:88.58, Z:18.75 [[ 6.70372528e-01 -7.39744414e-01 -5.81281026e-02 1.98568702e+02] [ 7.37204704e-01 6.72885608e-01 -6.12713880e-02 8.85771573e+01] [ 8.44387307e-02 -1.77765539e-03 9.96427088e-01 1.87527201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:88.61, Z:18.76 [[ 6.67976674e-01 -7.41910194e-01 -5.81070289e-02 1.98614788e+02] [ 7.39376894e-01 6.70496217e-01 -6.12913668e-02 8.86135674e+01] [ 8.44332329e-02 -2.02179118e-03 9.96427088e-01 1.87576188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:88.65, Z:18.77 [[ 6.74710842e-01 -7.35793523e-01 -5.80790091e-02 1.98657026e+02] [ 7.33235089e-01 6.77204858e-01 -6.13179067e-02 8.86523884e+01] [ 8.44487056e-02 -1.21371095e-03 9.96427089e-01 1.87698835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:198.70, Y:88.70, Z:18.78 [[ 6.83457707e-01 -7.27676976e-01 -5.80670358e-02 1.98695922e+02] [ 7.25087954e-01 6.85919954e-01 -6.13292431e-02 8.86954040e+01] [ 8.44572167e-02 -1.87764386e-04 9.96427089e-01 1.87796214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:88.74, Z:18.79 [[ 6.94357193e-01 -7.17285699e-01 -5.80458034e-02 1.98732674e+02] [ 7.14658154e-01 6.96778288e-01 -6.13493322e-02 8.87413280e+01] [ 8.44500541e-02 1.11544332e-03 9.96427089e-01 1.87883291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.77, Y:88.78, Z:18.79 [[ 6.98745339e-01 -7.13013365e-01 -5.80249244e-02 1.98773681e+02] [ 7.10369382e-01 7.01148471e-01 -6.13690736e-02 8.87825158e+01] [ 8.44410567e-02 1.66222451e-03 9.96427090e-01 1.87888600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:198.81, Y:88.82, Z:18.79 [[ 6.99372640e-01 -7.12398671e-01 -5.80176082e-02 1.98814966e+02] [ 7.09752003e-01 7.01772814e-01 -6.13759894e-02 8.88240067e+01] [ 8.44393535e-02 1.74657412e-03 9.96427090e-01 1.87924994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:88.86, Z:18.79 [[ 7.00279687e-01 -7.11508752e-01 -5.79970372e-02 1.98858217e+02] [ 7.08857425e-01 7.02674714e-01 -6.13954218e-02 8.88638842e+01] [ 8.44364314e-02 1.88233629e-03 9.96427090e-01 1.87936078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:88.90, Z:18.80 [[ 6.93298164e-01 -7.18314881e-01 -5.79774748e-02 1.98905249e+02] [ 7.15685531e-01 6.95717295e-01 -6.14138896e-02 8.89004163e+01] [ 8.44504428e-02 1.08449701e-03 9.96427090e-01 1.87997988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:88.94, Z:18.80 [[ 6.83072224e-01 -7.28047697e-01 -5.79559153e-02 1.98951970e+02] [ 7.25451094e-01 6.85526473e-01 -6.14342285e-02 8.89370352e+01] [ 8.44573628e-02 -8.01671266e-05 9.96427091e-01 1.88028657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:88.98, Z:18.81 [[ 6.76346756e-01 -7.34301485e-01 -5.79344037e-02 1.98993826e+02] [ 7.31725836e-01 6.78822985e-01 -6.14545080e-02 8.89768274e+01] [ 8.44533413e-02 -8.27542776e-04 9.96427091e-01 1.88125667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:89.02, Z:18.81 [[ 6.73902242e-01 -7.36546180e-01 -5.79266117e-02 1.99036782e+02] [ 7.33978147e-01 6.76386369e-01 -6.14618518e-02 8.90171796e+01] [ 8.44502627e-02 -1.09758737e-03 9.96427091e-01 1.88109738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.08, Y:89.06, Z:18.82 [[ 6.70095309e-01 -7.40012695e-01 -5.79093121e-02 1.99075414e+02] [ 7.37456103e-01 6.72591209e-01 -6.14781472e-02 8.90598280e+01] [ 8.44439036e-02 -1.50935757e-03 9.96427092e-01 1.88199627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:89.11, Z:18.83 [[ 6.63482493e-01 -7.45947952e-01 -5.79019345e-02 1.99110329e+02] [ 7.43413073e-01 6.66000441e-01 -6.14850948e-02 8.91063416e+01] [ 8.44273945e-02 -2.25077107e-03 9.96427092e-01 1.88295879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:89.15, Z:18.84 [[ 6.59341312e-01 -7.49611436e-01 -5.78941178e-02 1.99142959e+02] [ 7.47089897e-01 6.61872619e-01 -6.14924541e-02 8.91540649e+01] [ 8.44139782e-02 -2.70759517e-03 9.96427092e-01 1.88409762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:89.20, Z:18.84 [[ 6.57566287e-01 -7.51169580e-01 -5.78864385e-02 1.99177257e+02] [ 7.48653403e-01 6.60102924e-01 -6.14996822e-02 8.92028279e+01] [ 8.44076978e-02 -2.89676150e-03 9.96427092e-01 1.88446124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.21, Y:89.25, Z:18.86 [[ 6.62604216e-01 -7.46730969e-01 -5.78663440e-02 1.99208066e+02] [ 7.44196143e-01 6.65122217e-01 -6.15185839e-02 8.92520667e+01] [ 8.44260227e-02 -2.30143698e-03 9.96427092e-01 1.88581947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:89.30, Z:18.86 [[ 6.73457678e-01 -7.36958028e-01 -5.78586230e-02 1.99238572e+02] [ 7.34386016e-01 6.75937682e-01 -6.15258447e-02 8.93048627e+01] [ 8.44507887e-02 -1.05551113e-03 9.96427092e-01 1.88550721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:199.27, Y:89.35, Z:18.86 [[ 6.80081728e-01 -7.30850157e-01 -5.78523251e-02 1.99271625e+02] [ 7.28255364e-01 6.82537887e-01 -6.15317660e-02 8.93533948e+01] [ 8.44569045e-02 -2.84636295e-04 9.96427092e-01 1.88582634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:199.31, Y:89.40, Z:18.86 [[ 6.94636704e-01 -7.17031285e-01 -5.78444978e-02 1.99305295e+02] [ 7.14387030e-01 6.97039531e-01 -6.15391234e-02 8.94025826e+01] [ 8.44453783e-02 1.42397487e-03 9.96427092e-01 1.88591449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099998 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:89.45, Z:18.87 [[ 6.98365261e-01 -7.13401936e-01 -5.78242233e-02 1.99342657e+02] [ 7.10743620e-01 7.00752523e-01 -6.15581681e-02 8.94476458e+01] [ 8.44361867e-02 1.89188841e-03 9.96427093e-01 1.88697824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:199.39, Y:89.49, Z:18.87 [[ 6.95601526e-01 -7.16098620e-01 -5.78038450e-02 1.99386341e+02] [ 7.13447971e-01 6.97997298e-01 -6.15772976e-02 8.94872749e+01] [ 8.44423455e-02 1.59322619e-03 9.96427093e-01 1.88708106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:199.43, Y:89.53, Z:18.88 [[ 6.91801608e-01 -7.19771925e-01 -5.77833127e-02 1.99427914e+02] [ 7.17132391e-01 6.94209621e-01 -6.15965589e-02 8.95269004e+01] [ 8.44492054e-02 1.17431337e-03 9.96427094e-01 1.88826075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:89.56, Z:18.89 [[ 6.90609641e-01 -7.20916536e-01 -5.77725886e-02 1.99472085e+02] [ 7.18280153e-01 6.93021102e-01 -6.16066156e-02 8.95639572e+01] [ 8.44508509e-02 1.04921892e-03 9.96427094e-01 1.88881240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:89.60, Z:18.89 [[ 6.87575402e-01 -7.23812936e-01 -5.77486073e-02 1.99517800e+02] [ 7.21184824e-01 6.89995874e-01 -6.16290870e-02 8.96010373e+01] [ 8.44542311e-02 7.27225081e-04 9.96427094e-01 1.88854943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:199.57, Y:89.64, Z:18.89 [[ 6.83553872e-01 -7.27612567e-01 -5.77412786e-02 1.99565458e+02] [ 7.24997331e-01 6.85988250e-01 -6.16359526e-02 8.96358854e+01] [ 8.44569324e-02 2.69221244e-04 9.96427094e-01 1.88922356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:89.67, Z:18.90 [[ 6.81322059e-01 -7.29703397e-01 -5.77339039e-02 1.99609779e+02] [ 7.27095046e-01 6.83763813e-01 -6.16428597e-02 8.96747065e+01] [ 8.44573584e-02 2.06046069e-05 9.96427094e-01 1.88961547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:89.71, Z:18.91 [[ 6.83229695e-01 -7.27919164e-01 -5.77137276e-02 1.99652067e+02] [ 7.25302841e-01 6.85662904e-01 -6.16617442e-02 8.97137480e+01] [ 8.44569274e-02 2.69204124e-04 9.96427095e-01 1.89089809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:89.75, Z:18.92 [[ 6.87561551e-01 -7.23829719e-01 -5.77031419e-02 1.99692951e+02] [ 7.21198093e-01 6.89978201e-01 -6.16716487e-02 8.97544993e+01] [ 8.44536822e-02 7.87658494e-04 9.96427095e-01 1.89209767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.74, Y:89.79, Z:18.92 [[ 6.91681329e-01 -7.19895541e-01 -5.76831814e-02 1.99735892e+02] [ 7.17248616e-01 6.94081212e-01 -6.16903127e-02 8.97949104e+01] [ 8.44473935e-02 1.29685550e-03 9.96427095e-01 1.89233403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:89.83, Z:18.92 [[ 6.96763896e-01 -7.14979144e-01 -5.76619240e-02 1.99781797e+02] [ 7.12313648e-01 6.99143134e-01 -6.17101757e-02 8.98314609e+01] [ 8.44354268e-02 1.92404704e-03 9.96427096e-01 1.89212918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:89.87, Z:18.93 [[ 6.99901760e-01 -7.11908339e-01 -5.76545092e-02 1.99829445e+02] [ 7.09231837e-01 7.02268610e-01 -6.17171024e-02 8.98667215e+01] [ 8.44258719e-02 2.30549515e-03 9.96427096e-01 1.89283738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099998 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:89.90, Z:18.93 [[ 7.03053474e-01 -7.08797747e-01 -5.76330280e-02 1.99877629e+02] [ 7.06109135e-01 7.05406559e-01 -6.17371556e-02 8.98999267e+01] [ 8.44138728e-02 2.70931422e-03 9.96427096e-01 1.89316064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:89.94, Z:18.94 [[ 7.01084023e-01 -7.10746676e-01 -5.76225205e-02 1.99925437e+02] [ 7.08063802e-01 7.03443648e-01 -6.17469613e-02 8.99353489e+01] [ 8.44206435e-02 2.48938707e-03 9.96427096e-01 1.89394048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:199.97, Y:89.97, Z:18.94 [[ 6.92540680e-01 -7.19075461e-01 -5.76011100e-02 1.99973791e+02] [ 7.16419321e-01 6.94930359e-01 -6.17669278e-02 8.99687469e+01] [ 8.44438421e-02 1.50956215e-03 9.96427097e-01 1.89430254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:90.01, Z:18.94 [[ 6.85655679e-01 -7.25645350e-01 -5.75770380e-02 2.00018228e+02] [ 7.23010230e-01 6.88068515e-01 -6.17893588e-02 9.00088009e+01] [ 8.44541080e-02 7.37437253e-04 9.96427097e-01 1.89408673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:90.05, Z:18.94 [[ 6.75058112e-01 -7.35516020e-01 -5.75563160e-02 2.00063574e+02] [ 7.32914536e-01 6.77507176e-01 -6.18086552e-02 9.00453887e+01] [ 8.44560732e-02 -4.59426546e-04 9.96427098e-01 1.89448150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:200.11, Y:90.08, Z:18.95 [[ 6.72682929e-01 -7.37690774e-01 -5.75325916e-02 2.00107865e+02] [ 7.35095319e-01 6.75138380e-01 -6.18307305e-02 9.00814427e+01] [ 8.44544202e-02 -6.99461829e-04 9.96427098e-01 1.89548437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:90.12, Z:18.96 [[ 6.85314687e-01 -7.25971700e-01 -5.75227903e-02 2.00150245e+02] [ 7.23333490e-01 6.87724142e-01 -6.18398476e-02 9.01212566e+01] [ 8.44537909e-02 7.71595138e-04 9.96427098e-01 1.89612042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:90.16, Z:18.97 [[ 6.94163578e-01 -7.17517152e-01 -5.74983730e-02 2.00194320e+02] [ 7.14847729e-01 6.96538405e-01 -6.18625424e-02 9.01590333e+01] [ 8.44372603e-02 1.84014240e-03 9.96427099e-01 1.89705876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:90.20, Z:18.97 [[ 6.98385030e-01 -7.13409515e-01 -5.74909991e-02 2.00239009e+02] [ 7.10725565e-01 7.00743427e-01 -6.18693945e-02 9.01984511e+01] [ 8.44246544e-02 2.34833613e-03 9.96427099e-01 1.89724783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:90.23, Z:18.97 [[ 6.99216066e-01 -7.12596774e-01 -5.74693967e-02 2.00288344e+02] [ 7.09908436e-01 7.01569460e-01 -6.18894541e-02 9.02335596e+01] [ 8.44209989e-02 2.47609112e-03 9.96427099e-01 1.89695867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:200.34, Y:90.27, Z:18.97 [[ 7.02616431e-01 -7.09246029e-01 -5.74475594e-02 2.00338035e+02] [ 7.06544819e-01 7.04955038e-01 -6.19097176e-02 9.02671741e+01] [ 8.44071677e-02 2.90950936e-03 9.96427100e-01 1.89693651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:200.39, Y:90.30, Z:18.98 [[ 7.07163859e-01 -7.04712961e-01 -5.74362197e-02 2.00385102e+02] [ 7.01995917e-01 7.09484050e-01 -6.19202361e-02 9.03026310e+01] [ 8.43860747e-02 3.46776138e-03 9.96427100e-01 1.89823187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:90.34, Z:18.99 [[ 7.07419174e-01 -7.04458295e-01 -5.74162314e-02 2.00434293e+02] [ 7.01738917e-01 7.09736629e-01 -6.19387649e-02 9.03369650e+01] [ 8.43836792e-02 3.52546591e-03 9.96427100e-01 1.89894956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.49, Y:90.37, Z:19.00 [[ 6.91347381e-01 -7.20239200e-01 -5.73959344e-02 2.00486104e+02] [ 7.17571239e-01 6.93723848e-01 -6.19575676e-02 9.03676952e+01] [ 8.44411974e-02 1.64853040e-03 9.96427100e-01 1.89975565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:90.40, Z:19.00 [[ 6.71410817e-01 -7.38861083e-01 -5.73743402e-02 2.00534825e+02] [ 7.36257346e-01 6.73857480e-01 -6.19775580e-02 9.04035769e+01] [ 8.44549339e-02 -6.29876577e-04 9.96427101e-01 1.89974085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:90.44, Z:19.00 [[ 6.61003949e-01 -7.48187427e-01 -5.73528902e-02 2.00579121e+02] [ 7.45616474e-01 6.63485039e-01 -6.19974012e-02 9.04420576e+01] [ 8.44384606e-02 -1.78273271e-03 9.96427101e-01 1.90016121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:90.49, Z:19.02 [[ 6.59475879e-01 -7.49536388e-01 -5.73303442e-02 2.00614392e+02] [ 7.46968699e-01 6.61960346e-01 -6.20182430e-02 9.04853056e+01] [ 8.44353443e-02 -1.92443733e-03 9.96427102e-01 1.90187364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.65, Y:90.53, Z:19.02 [[ 6.59255265e-01 -7.49731531e-01 -5.73160265e-02 2.00649572e+02] [ 7.47163429e-01 6.61739305e-01 -6.20314723e-02 9.05335840e+01] [ 8.44352182e-02 -1.92986421e-03 9.96427102e-01 1.90198444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:90.58, Z:19.02 [[ 6.54839327e-01 -7.53593226e-01 -5.72949065e-02 2.00683678e+02] [ 7.51038064e-01 6.57336675e-01 -6.20509736e-02 9.05788637e+01] [ 8.44232366e-02 -2.39723784e-03 9.96427102e-01 1.90244995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:90.63, Z:19.03 [[ 6.45465197e-01 -7.61638715e-01 -5.72812984e-02 2.00712684e+02] [ 7.59113541e-01 6.47992862e-01 -6.20635331e-02 9.06307529e+01] [ 8.43878621e-02 -3.42315869e-03 9.96427103e-01 1.90322021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:90.68, Z:19.03 [[ 6.44432586e-01 -7.62513400e-01 -5.72709037e-02 2.00743081e+02] [ 7.59990807e-01 6.46962828e-01 -6.20731236e-02 9.06841085e+01] [ 8.43837344e-02 -3.52341674e-03 9.96427103e-01 1.90294976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:90.74, Z:19.03 [[ 6.44997294e-01 -7.62037166e-01 -5.72524991e-02 2.00770682e+02] [ 7.59511203e-01 6.47524171e-01 -6.20900943e-02 9.07388451e+01] [ 8.43873365e-02 -3.43597167e-03 9.96427103e-01 1.90265144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.80, Y:90.79, Z:19.04 [[ 6.41449291e-01 -7.65028088e-01 -5.72261517e-02 2.00795719e+02] [ 7.62511746e-01 6.43985747e-01 -6.21143683e-02 9.07937026e+01] [ 8.43720625e-02 -3.79239539e-03 9.96427104e-01 1.90372854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:90.85, Z:19.05 [[ 6.26403786e-01 -7.77395891e-01 -5.72182303e-02 2.00817487e+02] [ 7.74928849e-01 6.28988218e-01 -6.21216645e-02 9.08528069e+01] [ 8.42827194e-02 -5.42681147e-03 9.96427104e-01 1.90465824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.84, Y:90.91, Z:19.05 [[ 6.23645998e-01 -7.79611534e-01 -5.71972502e-02 2.00843847e+02] [ 7.77151915e-01 6.26237495e-01 -6.21409755e-02 9.09076111e+01] [ 8.42648840e-02 -5.69698187e-03 9.96427104e-01 1.90468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:90.97, Z:19.06 [[ 6.24696770e-01 -7.78771334e-01 -5.71765238e-02 2.00864939e+02] [ 7.76306500e-01 6.27283307e-01 -6.21600403e-02 9.09677071e+01] [ 8.42743364e-02 -5.55533069e-03 9.96427104e-01 1.90560234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:91.03, Z:19.06 [[ 6.25499745e-01 -7.78128067e-01 -5.71557596e-02 2.00888770e+02] [ 7.75658844e-01 6.28082092e-01 -6.21791270e-02 9.10250935e+01] [ 8.42818330e-02 -5.44034231e-03 9.96427105e-01 1.90569841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:91.08, Z:19.06 [[ 6.21923945e-01 -7.80990679e-01 -5.71328771e-02 2.00912083e+02] [ 7.78531423e-01 6.24515785e-01 -6.22001454e-02 9.10815213e+01] [ 8.42581174e-02 -5.79598034e-03 9.96427105e-01 1.90632161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:91.14, Z:19.07 [[ 6.15754879e-01 -7.85865375e-01 -5.71098991e-02 2.00935482e+02] [ 7.83424680e-01 6.18364204e-01 -6.22212359e-02 9.11388218e+01] [ 8.42122322e-02 -6.42827479e-03 9.96427106e-01 1.90715493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:91.20, Z:19.08 [[ 6.17148374e-01 -7.84773062e-01 -5.70887561e-02 2.00954122e+02] [ 7.82325974e-01 6.19751704e-01 -6.22406288e-02 9.11984497e+01] [ 8.42256228e-02 -6.25031383e-03 9.96427106e-01 1.90782423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:91.26, Z:19.08 [[ 6.29453655e-01 -7.74938798e-01 -5.70784988e-02 2.00977331e+02] [ 7.72450096e-01 6.32017233e-01 -6.22500340e-02 9.12561110e+01] [ 8.43145614e-02 -4.90678046e-03 9.96427106e-01 1.90799326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:91.31, Z:19.08 [[ 6.40928735e-01 -7.65477021e-01 -5.70551251e-02 2.01003076e+02] [ 7.62948511e-01 6.43453057e-01 -6.22714498e-02 9.13109587e+01] [ 8.43796585e-02 -3.61856122e-03 9.96427107e-01 1.90811563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397105681 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:91.36, Z:19.08 [[ 6.49310480e-01 -7.58382018e-01 -5.70317015e-02 2.01032867e+02] [ 7.55824019e-01 6.51804915e-01 -6.22928951e-02 9.13642322e+01] [ 8.44153549e-02 -2.65850022e-03 9.96427107e-01 1.90797127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457105681 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:91.42, Z:19.08 [[ 6.62625203e-01 -7.46778208e-01 -5.70100745e-02 2.01060250e+02] [ 7.44174785e-01 6.65072191e-01 -6.23126818e-02 9.14196558e+01] [ 8.44495680e-02 -1.13550651e-03 9.96427108e-01 1.90779190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517105681 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:91.47, Z:19.09 [[ 6.67041023e-01 -7.42838210e-01 -5.69883106e-02 2.01092828e+02] [ 7.40218631e-01 6.69470707e-01 -6.23325798e-02 9.14675122e+01] [ 8.44550265e-02 -6.05421493e-04 9.96427108e-01 1.90889735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577105681 meters Centerline goodness : 0.997776 with order 1 Centerline is valid? [True, True] Translation: X:201.13, Y:91.51, Z:19.09 [[ 6.67095066e-01 -7.42790262e-01 -5.69806859e-02 2.01129469e+02] [ 7.40169914e-01 6.69523920e-01 -6.23395490e-02 9.15104919e+01] [ 8.44551421e-02 -5.88983744e-04 9.96427108e-01 1.90929695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637105681 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:201.17, Y:91.55, Z:19.09 [[ 6.65394845e-01 -7.44314905e-01 -5.69651067e-02 2.01168982e+02] [ 7.41698903e-01 6.67828379e-01 -6.23537819e-02 9.15534404e+01] [ 8.44537641e-02 -7.61072136e-04 9.96427108e-01 1.90927114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:201.21, Y:91.60, Z:19.10 [[ 6.61558384e-01 -7.47728658e-01 -5.69417170e-02 2.01209509e+02] [ 7.45123374e-01 6.64003388e-01 -6.23751342e-02 9.15952969e+01] [ 8.44491684e-02 -1.16381134e-03 9.96427109e-01 1.90961690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099998 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:201.25, Y:91.63, Z:19.10 [[ 6.55609342e-01 -7.52952005e-01 -5.69180930e-02 2.01251638e+02] [ 7.50364325e-01 6.58072969e-01 -6.23966840e-02 9.16339531e+01] [ 8.44379668e-02 -1.80145759e-03 9.96427109e-01 1.91016734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817105681 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:201.29, Y:91.68, Z:19.11 [[ 6.49999087e-01 -7.57801205e-01 -5.69080021e-02 2.01292577e+02] [ 7.55231093e-01 6.52481036e-01 -6.24058859e-02 9.16750092e+01] [ 8.44226477e-02 -2.41492372e-03 9.96427110e-01 1.91078100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877105681 meters Centerline goodness : 0.998101 with order 1 Centerline is valid? [True, True] Translation: X:201.33, Y:91.72, Z:19.11 [[ 6.49679411e-01 -7.58077085e-01 -5.68840645e-02 2.01331176e+02] [ 7.55506120e-01 6.52160476e-01 -6.24276979e-02 9.17170341e+01] [ 8.44225458e-02 -2.41826888e-03 9.96427110e-01 1.91090515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937105681 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:91.76, Z:19.11 [[ 6.55563153e-01 -7.52995559e-01 -5.68739026e-02 2.01369442e+02] [ 7.50404552e-01 6.58023279e-01 -6.24369544e-02 9.17596345e+01] [ 8.44391013e-02 -1.74706869e-03 9.96427110e-01 1.91138676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997105681 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:201.41, Y:91.80, Z:19.12 [[ 6.62080554e-01 -7.47273284e-01 -5.68505005e-02 2.01408241e+02] [ 7.44659178e-01 6.64516121e-01 -6.24582554e-02 9.18024579e+01] [ 8.44514597e-02 -9.81850663e-04 9.96427111e-01 1.91230936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057105681 meters Centerline goodness : 0.997971 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:91.84, Z:19.13 [[ 6.72009816e-01 -7.38358648e-01 -5.68270640e-02 2.01446822e+02] [ 7.35710424e-01 6.74408241e-01 -6.24795717e-02 9.18437580e+01] [ 8.44569723e-02 1.78622077e-04 9.96427111e-01 1.91329903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117105681 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:201.49, Y:91.88, Z:19.14 [[ 6.81291735e-01 -7.29803663e-01 -5.68171135e-02 2.01490107e+02] [ 7.27124574e-01 6.83655634e-01 -6.24886190e-02 9.18827369e+01] [ 8.44477629e-02 1.25986022e-03 9.96427111e-01 1.91369025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177105681 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:91.92, Z:19.14 [[ 6.84972254e-01 -7.26352138e-01 -5.67942155e-02 2.01536683e+02] [ 7.23659416e-01 6.87320610e-01 -6.25094236e-02 9.19191065e+01] [ 8.44396883e-02 1.71755189e-03 9.96427112e-01 1.91380816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237105681 meters Centerline goodness : 0.998602 with order 1 Centerline is valid? [True, True] Translation: X:201.58, Y:91.95, Z:19.14 [[ 6.86121544e-01 -7.25268532e-01 -5.67695719e-02 2.01584850e+02] [ 7.22570251e-01 6.88463511e-01 -6.25317964e-02 9.19541200e+01] [ 8.44361229e-02 1.88440884e-03 9.96427112e-01 1.91362079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297105681 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:91.99, Z:19.14 [[ 6.84490951e-01 -7.26808234e-01 -5.67620404e-02 2.01632813e+02] [ 7.24114656e-01 6.86838325e-01 -6.25386322e-02 9.19874652e+01] [ 8.44399376e-02 1.70490248e-03 9.96427112e-01 1.91388504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:92.02, Z:19.14 [[ 6.77680085e-01 -7.33163644e-01 -5.67518673e-02 2.01685119e+02] [ 7.30491314e-01 6.80051620e-01 -6.25478626e-02 9.20173586e+01] [ 8.44520181e-02 9.30694728e-04 9.96427112e-01 1.91449082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:92.05, Z:19.15 [[ 6.67523628e-01 -7.42424482e-01 -5.67282475e-02 2.01736261e+02] [ 7.39783237e-01 6.69929734e-01 -6.25692775e-02 9.20491005e+01] [ 8.44569032e-02 -2.00135456e-04 9.96427113e-01 1.91513465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:201.79, Y:92.08, Z:19.15 [[ 6.56084922e-01 -7.52553735e-01 -5.67049544e-02 2.01785031e+02] [ 7.49947800e-01 6.58529226e-01 -6.25903803e-02 9.20837250e+01] [ 8.44444942e-02 -1.46115106e-03 9.96427113e-01 1.91530823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:201.83, Y:92.12, Z:19.15 [[ 6.49478752e-01 -7.58263951e-01 -5.66844805e-02 2.01832911e+02] [ 7.55677882e-01 6.51944064e-01 -6.26089169e-02 9.21201900e+01] [ 8.44291953e-02 -2.17204694e-03 9.96427114e-01 1.91538762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:92.16, Z:19.16 [[ 6.52173115e-01 -7.55949371e-01 -5.66637173e-02 2.01877835e+02] [ 7.53352919e-01 6.54627489e-01 -6.26277029e-02 9.21555544e+01] [ 8.44369996e-02 -1.84367279e-03 9.96427114e-01 1.91614110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:92.20, Z:19.17 [[ 6.55423438e-01 -7.53133777e-01 -5.66536013e-02 2.01919087e+02] [ 7.50525990e-01 6.57865764e-01 -6.26368526e-02 9.21977634e+01] [ 8.44443941e-02 -1.46633892e-03 9.96427114e-01 1.91665791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:201.96, Y:92.24, Z:19.18 [[ 6.52835591e-01 -7.55379597e-01 -5.66335138e-02 2.01958505e+02] [ 7.52778637e-01 6.55285185e-01 -6.26550096e-02 9.22408727e+01] [ 8.44394186e-02 -1.72907910e-03 9.96427115e-01 1.91770477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:202.00, Y:92.28, Z:19.19 [[ 6.48179230e-01 -7.59380559e-01 -5.66114207e-02 2.01997523e+02] [ 7.56792973e-01 6.50642947e-01 -6.26749654e-02 9.22840486e+01] [ 8.44279719e-02 -2.21851452e-03 9.96427115e-01 1.91853313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:92.33, Z:19.19 [[ 6.39120779e-01 -7.67021573e-01 -5.65909555e-02 2.02037978e+02] [ 7.64461785e-01 6.41613366e-01 -6.26934386e-02 9.23250897e+01] [ 8.43967333e-02 -3.19294354e-03 9.96427116e-01 1.91895242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.08, Y:92.37, Z:19.19 [[ 6.31555188e-01 -7.73264654e-01 -5.65669435e-02 2.02076813e+02] [ 7.70727552e-01 6.34070861e-01 -6.27150966e-02 9.23682839e+01] [ 8.43628181e-02 -3.98965727e-03 9.96427116e-01 1.91901255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:92.41, Z:19.19 [[ 6.29076389e-01 -7.75284405e-01 -5.65419114e-02 2.02117206e+02] [ 7.72753360e-01 6.31598156e-01 -6.27376568e-02 9.24098067e+01] [ 8.43512939e-02 -4.22617346e-03 9.96427117e-01 1.91907884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:92.46, Z:19.20 [[ 6.29666547e-01 -7.74806764e-01 -5.65200752e-02 2.02152336e+02] [ 7.72272050e-01 6.32184625e-01 -6.27573228e-02 9.24556949e+01] [ 8.43559207e-02 -4.13268764e-03 9.96427117e-01 1.92015803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.19, Y:92.50, Z:19.20 [[ 6.32444789e-01 -7.72541232e-01 -5.65122437e-02 2.02186383e+02] [ 7.69996867e-01 6.34953115e-01 -6.27643741e-02 9.25047089e+01] [ 8.43706921e-02 -3.81924921e-03 9.96427117e-01 1.91979241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:92.56, Z:19.21 [[ 6.40565728e-01 -7.65822627e-01 -5.64911756e-02 2.02214622e+02] [ 7.63250260e-01 6.43045328e-01 -6.27833308e-02 9.25560461e+01] [ 8.44072819e-02 -2.90005450e-03 9.96427117e-01 1.92050646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:202.25, Y:92.60, Z:19.21 [[ 6.45680070e-01 -7.61516145e-01 -5.64837055e-02 2.02247107e+02] [ 7.58926645e-01 6.48141772e-01 -6.27900507e-02 9.26050000e+01] [ 8.44250863e-02 -2.32470485e-03 9.96427118e-01 1.92109409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:202.28, Y:92.66, Z:19.22 [[ 6.49297395e-01 -7.58435969e-01 -5.64603792e-02 2.02277027e+02] [ 7.55832966e-01 6.51744815e-01 -6.28110186e-02 9.26555728e+01] [ 8.44358951e-02 -1.89158515e-03 9.96427118e-01 1.92153119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:202.31, Y:92.70, Z:19.22 [[ 6.45569302e-01 -7.61613512e-01 -5.64369962e-02 2.02312818e+02] [ 7.59020719e-01 6.48027534e-01 -6.28320217e-02 9.27010907e+01] [ 8.44264442e-02 -2.27442507e-03 9.96427119e-01 1.92238772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:92.75, Z:19.23 [[ 6.43986344e-01 -7.62953263e-01 -5.64261212e-02 2.02347019e+02] [ 7.60364730e-01 6.46449061e-01 -6.28417865e-02 9.27487115e+01] [ 8.44219591e-02 -2.43518009e-03 9.96427119e-01 1.92335955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:202.39, Y:92.79, Z:19.24 [[ 6.41044351e-01 -7.65428351e-01 -5.64054978e-02 2.02385016e+02] [ 7.62847698e-01 6.43515324e-01 -6.28602922e-02 9.27916765e+01] [ 8.44128520e-02 -2.73256901e-03 9.96427119e-01 1.92364977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:202.43, Y:92.84, Z:19.24 [[ 6.33552170e-01 -7.71642301e-01 -5.63897886e-02 2.02425075e+02] [ 7.69084614e-01 6.36046908e-01 -6.28743813e-02 9.28354770e+01] [ 8.43830829e-02 -3.53431810e-03 9.96427119e-01 1.92358296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:92.88, Z:19.24 [[ 6.29875755e-01 -7.74647659e-01 -5.63696517e-02 2.02461196e+02] [ 7.72100263e-01 6.32380998e-01 -6.28924298e-02 9.28812898e+01] [ 8.43665701e-02 -3.90860617e-03 9.96427120e-01 1.92396402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:202.50, Y:92.93, Z:19.24 [[ 6.36597654e-01 -7.69134889e-01 -5.63466931e-02 2.02496103e+02] [ 7.66563965e-01 6.39078746e-01 -6.29129922e-02 9.29301397e+01] [ 8.43985512e-02 -3.14308126e-03 9.96427120e-01 1.92378003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677105681 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:92.98, Z:19.24 [[ 6.50183648e-01 -7.57686199e-01 -5.63280469e-02 2.02527740e+02] [ 7.55070090e-01 6.52617050e-01 -6.29296823e-02 9.29800109e+01] [ 8.44415956e-02 -1.61577306e-03 9.96427120e-01 1.92443452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737105681 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:93.03, Z:19.25 [[ 6.64523852e-01 -7.45142798e-01 -5.63050788e-02 2.02559809e+02] [ 7.42478995e-01 6.66904949e-01 -6.29502259e-02 9.30295234e+01] [ 8.44570432e-02 2.65882506e-05 9.96427121e-01 1.92489767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797105681 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:202.60, Y:93.07, Z:19.26 [[ 6.79484199e-01 -7.31528090e-01 -5.62838905e-02 2.02597116e+02] [ 7.28815031e-01 6.81809016e-01 -6.29691648e-02 9.30748787e+01] [ 8.44385769e-02 1.76600710e-03 9.96427121e-01 1.92563897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857105681 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:93.12, Z:19.26 [[ 6.85821671e-01 -7.25591575e-01 -5.62628052e-02 2.02637974e+02] [ 7.22856859e-01 6.88120973e-01 -6.29879988e-02 9.31151725e+01] [ 8.44191775e-02 2.52857991e-03 9.96427122e-01 1.92613481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:93.15, Z:19.27 [[ 6.84095817e-01 -7.27219531e-01 -5.62553771e-02 2.02685358e+02] [ 7.24489743e-01 6.86400967e-01 -6.29946323e-02 9.31505399e+01] [ 8.44246722e-02 2.33792076e-03 9.96427122e-01 1.92653228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099998 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:202.73, Y:93.18, Z:19.28 [[ 6.82668074e-01 -7.28561600e-01 -5.62342896e-02 2.02734518e+02] [ 7.25834797e-01 6.84976753e-01 -6.30134512e-02 9.31844512e+01] [ 8.44283620e-02 2.20046715e-03 9.96427122e-01 1.92761760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099999 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:202.78, Y:93.22, Z:19.28 [[ 6.86385923e-01 -7.25061713e-01 -5.62127847e-02 2.02783281e+02] [ 7.22321574e-01 6.88678758e-01 -6.30326294e-02 9.32182100e+01] [ 8.44150970e-02 2.66100233e-03 9.96427123e-01 1.92795541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:93.25, Z:19.28 [[ 6.86940804e-01 -7.24537895e-01 -5.61887029e-02 2.02835759e+02] [ 7.21794256e-01 6.89229449e-01 -6.30540892e-02 9.32473959e+01] [ 8.44119858e-02 2.75774375e-03 9.96427123e-01 1.92849938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.89, Y:93.28, Z:19.29 [[ 6.88317230e-01 -7.23231207e-01 -5.61784026e-02 2.02890797e+02] [ 7.20482477e-01 6.90599757e-01 -6.30632650e-02 9.32757827e+01] [ 8.44061125e-02 2.93197725e-03 9.96427123e-01 1.92873986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.94, Y:93.31, Z:19.30 [[ 6.87354583e-01 -7.24146724e-01 -5.61711654e-02 2.02941584e+02] [ 7.21400509e-01 6.89640136e-01 -6.30697106e-02 9.33090181e+01] [ 8.44096145e-02 2.82934729e-03 9.96427123e-01 1.92954249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.99, Y:93.34, Z:19.30 [[ 6.90483736e-01 -7.21165232e-01 -5.61508599e-02 2.02993650e+02] [ 7.18407686e-01 6.92755605e-01 -6.30877835e-02 9.33396210e+01] [ 8.43955389e-02 3.22187908e-03 9.96427124e-01 1.93000282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:93.37, Z:19.31 [[ 6.94143440e-01 -7.17645233e-01 -5.61266771e-02 2.03046943e+02] [ 7.14874440e-01 6.96399133e-01 -6.31092906e-02 9.33677727e+01] [ 8.43766509e-02 3.68337321e-03 9.96427124e-01 1.93066047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.10, Y:93.40, Z:19.30 [[ 6.98032978e-01 -7.13863367e-01 -5.61164405e-02 2.03098533e+02] [ 7.11079632e-01 7.00272680e-01 -6.31183916e-02 9.33998724e+01] [ 8.43547177e-02 4.15546105e-03 9.96427124e-01 1.93040938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:93.43, Z:19.31 [[ 7.00386893e-01 -7.11555923e-01 -5.60925000e-02 2.03150755e+02] [ 7.08763119e-01 7.02615275e-01 -6.31396601e-02 9.34315538e+01] [ 8.43388465e-02 4.46589514e-03 9.96427125e-01 1.93100872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:93.46, Z:19.32 [[ 6.99435636e-01 -7.12492666e-01 -5.60713191e-02 2.03201633e+02] [ 7.09701348e-01 7.01665878e-01 -6.31584643e-02 9.34646035e+01] [ 8.43432740e-02 4.38138988e-03 9.96427125e-01 1.93159697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:93.50, Z:19.32 [[ 6.93033586e-01 -7.18723091e-01 -5.60496778e-02 2.03251753e+02] [ 7.15950296e-01 6.95286816e-01 -6.31776640e-02 9.34970425e+01] [ 8.43778480e-02 3.65545962e-03 9.96427125e-01 1.93178235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:93.53, Z:19.32 [[ 6.81543988e-01 -7.29628031e-01 -5.60422139e-02 2.03301583e+02] [ 7.26890790e-01 6.83840278e-01 -6.31842843e-02 9.35308873e+01] [ 8.44249480e-02 2.32629991e-03 9.96427126e-01 1.93170489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:203.35, Y:93.56, Z:19.33 [[ 6.67785676e-01 -7.42242667e-01 -5.60188726e-02 2.03351285e+02] [ 7.39547101e-01 6.70130746e-01 -6.32049719e-02 9.35646306e+01] [ 8.44533957e-02 7.78780041e-04 9.96427126e-01 1.93286775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:93.60, Z:19.34 [[ 6.59565215e-01 -7.49558684e-01 -5.59955963e-02 2.03393158e+02] [ 7.46887382e-01 6.61937886e-01 -6.32255864e-02 9.36047461e+01] [ 8.44568940e-02 -1.21006856e-04 9.96427127e-01 1.93350256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:93.64, Z:19.35 [[ 6.62102792e-01 -7.47320113e-01 -5.59691221e-02 2.03433223e+02] [ 7.44638807e-01 6.64464152e-01 -6.32490136e-02 9.36434423e+01] [ 8.44567352e-02 2.00568120e-04 9.96427127e-01 1.93502090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.47, Y:93.69, Z:19.36 [[ 6.63809318e-01 -7.45806056e-01 -5.59510089e-02 2.03471101e+02] [ 7.43118015e-01 6.66163007e-01 -6.32650327e-02 9.36888815e+01] [ 8.44559369e-02 4.17715592e-04 9.96427127e-01 1.93551091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.51, Y:93.73, Z:19.37 [[ 6.63637679e-01 -7.45960253e-01 -5.59314899e-02 2.03508039e+02] [ 7.43271305e-01 6.65990330e-01 -6.32822845e-02 9.37333349e+01] [ 8.44559004e-02 4.24236951e-04 9.96427128e-01 1.93651142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:93.78, Z:19.37 [[ 6.64778488e-01 -7.44945415e-01 -5.59096640e-02 2.03541423e+02] [ 7.42251253e-01 6.67125167e-01 -6.33015618e-02 9.37815471e+01] [ 8.44549522e-02 5.82498351e-04 9.96427128e-01 1.93732792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:93.83, Z:19.38 [[ 6.70816752e-01 -7.39514467e-01 -5.58859484e-02 2.03575085e+02] [ 7.36799567e-01 6.73139407e-01 -6.33224923e-02 9.38287291e+01] [ 8.44469333e-02 1.30104603e-03 9.96427129e-01 1.93767891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:93.88, Z:19.37 [[ 6.77512871e-01 -7.33385280e-01 -5.58779030e-02 2.03610425e+02] [ 7.30648792e-01 6.79810052e-01 -6.33295911e-02 9.38760371e+01] [ 8.44313500e-02 2.07949081e-03 9.96427129e-01 1.93732681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.65, Y:93.92, Z:19.37 [[ 6.86733805e-01 -7.24759939e-01 -5.58543764e-02 2.03647351e+02] [ 7.21992941e-01 6.88994142e-01 -6.33503339e-02 9.39227560e+01] [ 8.43971223e-02 3.17835041e-03 9.96427129e-01 1.93693402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:93.96, Z:19.37 [[ 6.91622604e-01 -7.20097739e-01 -5.58338547e-02 2.03689020e+02] [ 7.17314060e-01 6.93862366e-01 -6.33684156e-02 9.39620597e+01] [ 8.43724633e-02 3.77661968e-03 9.96427130e-01 1.93722385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:94.00, Z:19.38 [[ 6.86095679e-01 -7.25366619e-01 -5.58210253e-02 2.03734445e+02] [ 7.22599236e-01 6.88355545e-01 -6.33797150e-02 9.39991608e+01] [ 8.43982418e-02 3.14831840e-03 9.96427130e-01 1.93766512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:94.03, Z:19.39 [[ 6.77095450e-01 -7.33776730e-01 -5.57983999e-02 2.03782590e+02] [ 7.31035802e-01 6.79387329e-01 -6.33996278e-02 9.40343291e+01] [ 8.44298975e-02 2.13697155e-03 9.96427130e-01 1.93908212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:94.08, Z:19.40 [[ 6.74146065e-01 -7.36488991e-01 -5.57767835e-02 2.03823202e+02] [ 7.33755713e-01 6.76447063e-01 -6.34186395e-02 9.40752938e+01] [ 8.44371712e-02 1.82689275e-03 9.96427131e-01 1.93962456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.87, Y:94.11, Z:19.40 [[ 6.67871346e-01 -7.42185613e-01 -5.57528587e-02 2.03866717e+02] [ 7.39470214e-01 6.70193414e-01 -6.34396654e-02 9.41140130e+01] [ 8.44492057e-02 1.14195642e-03 9.96427131e-01 1.93997196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.91, Y:94.15, Z:19.40 [[ 6.59428650e-01 -7.49698779e-01 -5.57278783e-02 2.03913558e+02] [ 7.47007986e-01 6.61779188e-01 -6.34616016e-02 9.41502394e+01] [ 8.44566353e-02 2.19228134e-04 9.96427132e-01 1.94038749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:94.19, Z:19.42 [[ 6.58338273e-01 -7.50658357e-01 -5.57023291e-02 2.03953500e+02] [ 7.47969093e-01 6.60690559e-01 -6.34840192e-02 9.41899245e+01] [ 8.44568125e-02 1.30338947e-04 9.96427132e-01 1.94156333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:94.23, Z:19.42 [[ 6.61202960e-01 -7.48137332e-01 -5.56882216e-02 2.03994462e+02] [ 7.45438058e-01 6.63543751e-01 -6.34963919e-02 9.42301494e+01] [ 8.44555927e-02 4.71882583e-04 9.96427132e-01 1.94215424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.04, Y:94.27, Z:19.42 [[ 6.69417551e-01 -7.40798027e-01 -5.56635052e-02 2.04036657e+02] [ 7.38071296e-01 6.71726298e-01 -6.35180520e-02 9.42704704e+01] [ 8.44446879e-02 1.43646340e-03 9.96427133e-01 1.94239486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:94.31, Z:19.42 [[ 6.80076340e-01 -7.31026986e-01 -5.56391695e-02 2.04079569e+02] [ 7.28265370e-01 6.82343243e-01 -6.35393619e-02 9.43119678e+01] [ 8.44139996e-02 2.69153633e-03 9.96427133e-01 1.94244225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:94.35, Z:19.42 [[ 6.87246314e-01 -7.24292029e-01 -5.56197897e-02 2.04119740e+02] [ 7.21506847e-01 6.89484201e-01 -6.35563217e-02 9.43538161e+01] [ 8.43823035e-02 3.54878871e-03 9.96427134e-01 1.94244532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:94.39, Z:19.43 [[ 6.88042286e-01 -7.23536492e-01 -5.56125678e-02 2.04167092e+02] [ 7.20748345e-01 6.90276477e-01 -6.35626404e-02 9.43900430e+01] [ 8.43779372e-02 3.65111817e-03 9.96427134e-01 1.94305604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:94.43, Z:19.44 [[ 6.86734843e-01 -7.24779073e-01 -5.55927344e-02 2.04209120e+02] [ 7.21993570e-01 6.88972329e-01 -6.35799822e-02 9.44309788e+01] [ 8.43832963e-02 3.52499229e-03 9.96427134e-01 1.94382879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:204.26, Y:94.46, Z:19.44 [[ 6.80654425e-01 -7.30493850e-01 -5.55723834e-02 2.04258848e+02] [ 7.27725698e-01 6.82913342e-01 -6.35977652e-02 9.44647682e+01] [ 8.44088984e-02 2.84664881e-03 9.96427135e-01 1.94406331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:204.31, Y:94.50, Z:19.45 [[ 6.72778519e-01 -7.37754418e-01 -5.55651268e-02 2.04308616e+02] [ 7.35010139e-01 6.75066377e-01 -6.36041046e-02 9.44990858e+01] [ 8.44343581e-02 1.95054368e-03 9.96427135e-01 1.94499020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:94.54, Z:19.45 [[ 6.66746412e-01 -7.43212028e-01 -5.55437121e-02 2.04354513e+02] [ 7.40484925e-01 6.69054718e-01 -6.36228000e-02 9.45352735e+01] [ 8.44470129e-02 1.29099213e-03 9.96427135e-01 1.94512779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:94.57, Z:19.45 [[ 6.65769455e-01 -7.44088892e-01 -5.55225421e-02 2.04397469e+02] [ 7.41363290e-01 6.68079532e-01 -6.36412695e-02 9.45744780e+01] [ 8.44482356e-02 1.20803888e-03 9.96427135e-01 1.94523343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099998 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:94.62, Z:19.46 [[ 6.76568872e-01 -7.34284762e-01 -5.55018024e-02 2.04438154e+02] [ 7.31524227e-01 6.78837088e-01 -6.36593515e-02 9.46156923e+01] [ 8.44207737e-02 2.46902251e-03 9.96427136e-01 1.94613971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:94.66, Z:19.47 [[ 6.86343013e-01 -7.25158840e-01 -5.54790528e-02 2.04478529e+02] [ 7.22366583e-01 6.88572061e-01 -6.36791717e-02 9.46577112e+01] [ 8.43788400e-02 3.62954074e-03 9.96427136e-01 1.94669484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:94.70, Z:19.47 [[ 6.90524746e-01 -7.21179669e-01 -5.54568325e-02 2.04520640e+02] [ 7.18373029e-01 6.92735657e-01 -6.36985170e-02 9.46982892e+01] [ 8.43550007e-02 4.14670958e-03 9.96427137e-01 1.94745448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:94.74, Z:19.48 [[ 6.92992325e-01 -7.18810513e-01 -5.54353938e-02 2.04563205e+02] [ 7.15994835e-01 6.95191713e-01 -6.37171692e-02 9.47366195e+01] [ 8.43387975e-02 4.46405354e-03 9.96427137e-01 1.94792416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:94.78, Z:19.48 [[ 6.97604362e-01 -7.14336930e-01 -5.54157426e-02 2.04604876e+02] [ 7.11505813e-01 6.99783840e-01 -6.37342556e-02 9.47778676e+01] [ 8.43067736e-02 5.03267175e-03 9.96427137e-01 1.94781045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:94.82, Z:19.48 [[ 6.98066027e-01 -7.13887464e-01 -5.53941472e-02 2.04646207e+02] [ 7.11053467e-01 7.00241758e-01 -6.37530196e-02 9.48204236e+01] [ 8.43017765e-02 5.11561671e-03 9.96427138e-01 1.94802124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617105681 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:204.69, Y:94.86, Z:19.48 [[ 6.96244388e-01 -7.15665926e-01 -5.53717886e-02 2.04691831e+02] [ 7.12835957e-01 6.98425354e-01 -6.37724330e-02 9.48563775e+01] [ 8.43128184e-02 4.93019665e-03 9.96427138e-01 1.94842030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677105681 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:94.90, Z:19.49 [[ 6.87068925e-01 -7.24480605e-01 -5.53547246e-02 2.04736226e+02] [ 7.21677472e-01 6.89284277e-01 -6.37872411e-02 9.48956156e+01] [ 8.43677604e-02 3.87797342e-03 9.96427139e-01 1.94914842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:94.93, Z:19.50 [[ 6.81560301e-01 -7.29666970e-01 -5.53323470e-02 2.04784561e+02] [ 7.26879137e-01 6.83794875e-01 -6.38066468e-02 9.49291480e+01] [ 8.43935780e-02 3.26814872e-03 9.96427139e-01 1.94986273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:94.97, Z:19.50 [[ 6.73772579e-01 -7.36865277e-01 -5.53179583e-02 2.04828399e+02] [ 7.34100314e-01 6.76035390e-01 -6.38191189e-02 9.49688883e+01] [ 8.44229902e-02 2.39064174e-03 9.96427139e-01 1.94975275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:204.87, Y:95.01, Z:19.50 [[ 6.64706972e-01 -7.45055077e-01 -5.52953353e-02 2.04872691e+02] [ 7.42316382e-01 6.67001505e-01 -6.38387143e-02 9.50074641e+01] [ 8.44454301e-02 1.38740521e-03 9.96427140e-01 1.95035919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:95.05, Z:19.51 [[ 6.55801206e-01 -7.52907331e-01 -5.52750312e-02 2.04912395e+02] [ 7.50194636e-01 6.58126418e-01 -6.38562900e-02 9.50504077e+01] [ 8.44558271e-02 4.10000097e-04 9.96427140e-01 1.95141390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099998 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:95.10, Z:19.52 [[ 6.50805990e-01 -7.57230800e-01 -5.52546685e-02 2.04947579e+02] [ 7.54532056e-01 6.53147380e-01 -6.38739049e-02 9.50962919e+01] [ 8.44567301e-02 -1.21898704e-04 9.96427140e-01 1.95188165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099999 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:204.98, Y:95.14, Z:19.52 [[ 6.42199943e-01 -7.64544748e-01 -5.52318880e-02 2.04984253e+02] [ 7.61870971e-01 6.44569804e-01 -6.38935972e-02 9.51405790e+01] [ 8.44503214e-02 -1.04710769e-03 9.96427141e-01 1.95242431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:95.19, Z:19.53 [[ 6.27490114e-01 -7.76664713e-01 -5.52094227e-02 2.05016703e+02] [ 7.74034959e-01 6.29908732e-01 -6.39130033e-02 9.51887800e+01] [ 8.44158718e-02 -2.62924550e-03 9.96427141e-01 1.95258723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157105681 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:205.05, Y:95.24, Z:19.53 [[ 6.15343924e-01 -7.86324689e-01 -5.51845822e-02 2.05047395e+02] [ 7.83730934e-01 6.17801108e-01 -6.39344443e-02 9.52378734e+01] [ 8.43663280e-02 -3.90819232e-03 9.96427142e-01 1.95322179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:95.29, Z:19.54 [[ 6.10414315e-01 -7.90159171e-01 -5.51620169e-02 2.05071390e+02] [ 7.87579092e-01 6.12885855e-01 -6.39539075e-02 9.52925344e+01] [ 8.43417864e-02 -4.40607049e-03 9.96427142e-01 1.95367019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:95.35, Z:19.54 [[ 6.11781333e-01 -7.89102337e-01 -5.51461969e-02 2.05097664e+02] [ 7.86516765e-01 6.14247125e-01 -6.39675459e-02 9.53465071e+01] [ 8.43503328e-02 -4.23925791e-03 9.96427142e-01 1.95390249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:205.12, Y:95.40, Z:19.54 [[ 6.12401557e-01 -7.88622589e-01 -5.51248207e-02 2.05119961e+02] [ 7.86033437e-01 6.14863589e-01 -6.39859618e-02 9.54037402e+01] [ 8.43550199e-02 -4.14484963e-03 9.96427143e-01 1.95399927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:95.46, Z:19.55 [[ 6.11089074e-01 -7.89641458e-01 -5.51045472e-02 2.05138697e+02] [ 7.87054846e-01 6.13553773e-01 -6.40034166e-02 9.54633464e+01] [ 8.43493541e-02 -4.25851234e-03 9.96427143e-01 1.95539476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:95.52, Z:19.56 [[ 6.06946932e-01 -7.92830612e-01 -5.50912148e-02 2.05156853e+02] [ 7.90255907e-01 6.09424068e-01 -6.40148905e-02 9.55223333e+01] [ 8.43268770e-02 -4.68251648e-03 9.96427143e-01 1.95594245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:95.58, Z:19.56 [[ 6.03926547e-01 -7.95135292e-01 -5.50689754e-02 2.05176095e+02] [ 7.92568306e-01 6.06411680e-01 -6.40340163e-02 9.55827092e+01] [ 8.43101762e-02 -4.97408215e-03 9.96427144e-01 1.95619030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:95.65, Z:19.57 [[ 6.05048810e-01 -7.94283365e-01 -5.50442910e-02 2.05184133e+02] [ 7.91710963e-01 6.07528335e-01 -6.40552283e-02 9.56507164e+01] [ 8.43189688e-02 -4.82262894e-03 9.96427144e-01 1.95678528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:95.71, Z:19.57 [[ 6.04536215e-01 -7.94675128e-01 -5.50218621e-02 2.05203130e+02] [ 7.92102594e-01 6.07015602e-01 -6.40744884e-02 9.57103199e+01] [ 8.43175311e-02 -4.84761096e-03 9.96427145e-01 1.95710103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:205.22, Y:95.77, Z:19.58 [[ 6.04034031e-01 -7.95058612e-01 -5.49972115e-02 2.05223112e+02] [ 7.92485740e-01 6.06513067e-01 -6.40956399e-02 9.57686721e+01] [ 8.43163179e-02 -4.86855813e-03 9.96427145e-01 1.95763909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:95.83, Z:19.58 [[ 6.08751301e-01 -7.91454236e-01 -5.49731453e-02 2.05242991e+02] [ 7.88864822e-01 6.11213053e-01 -6.41162743e-02 9.58287532e+01] [ 8.43454008e-02 -4.33551514e-03 9.96427146e-01 1.95779102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:95.89, Z:19.58 [[ 6.09572619e-01 -7.90823327e-01 -5.49516956e-02 2.05259128e+02] [ 7.88229717e-01 6.12029950e-01 -6.41346528e-02 9.58906935e+01] [ 8.43512630e-02 -4.21983121e-03 9.96427146e-01 1.95829995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:95.95, Z:19.59 [[ 6.04881467e-01 -7.94418945e-01 -5.49267687e-02 2.05280626e+02] [ 7.91838008e-01 6.07352103e-01 -6.41559939e-02 9.59487096e+01] [ 8.43266255e-02 -4.68633139e-03 9.96427147e-01 1.95892030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:205.30, Y:96.00, Z:19.60 [[ 6.01589422e-01 -7.96915613e-01 -5.49151474e-02 2.05302563e+02] [ 7.94344023e-01 6.04069786e-01 -6.41659397e-02 9.60034684e+01] [ 8.43074205e-02 -5.01996852e-03 9.96427147e-01 1.96013723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:96.06, Z:19.60 [[ 6.01668157e-01 -7.96857144e-01 -5.49010040e-02 2.05325920e+02] [ 7.94284218e-01 6.04147135e-01 -6.41780388e-02 9.60599729e+01] [ 8.43090129e-02 -4.99311868e-03 9.96427147e-01 1.95973166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:96.11, Z:19.60 [[ 6.03627109e-01 -7.95375884e-01 -5.48772805e-02 2.05352951e+02] [ 7.92795043e-01 6.06097844e-01 -6.41983178e-02 9.61133510e+01] [ 8.43227952e-02 -4.75459097e-03 9.96427147e-01 1.96019671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:96.17, Z:19.61 [[ 6.10305520e-01 -7.90264656e-01 -5.48538605e-02 2.05380131e+02] [ 7.87661311e-01 6.12752532e-01 -6.42183227e-02 9.61679299e+01] [ 8.43613126e-02 -4.01346690e-03 9.96427148e-01 1.96050912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:205.41, Y:96.22, Z:19.61 [[ 6.26187754e-01 -7.77741698e-01 -5.48338170e-02 2.05408623e+02] [ 7.75087831e-01 6.28579878e-01 -6.42354326e-02 9.62180756e+01] [ 8.44260085e-02 -2.27758304e-03 9.96427148e-01 1.96125364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237105681 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:96.27, Z:19.62 [[ 6.42446425e-01 -7.64367221e-01 -5.48210059e-02 2.05436696e+02] [ 7.61662579e-01 6.44780986e-01 -6.42463643e-02 9.62703033e+01] [ 8.44553572e-02 -4.80261712e-04 9.96427148e-01 1.96199402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:205.47, Y:96.32, Z:19.62 [[ 6.53723584e-01 -7.54746617e-01 -5.47998210e-02 2.05470016e+02] [ 7.52006104e-01 6.56015932e-01 -6.42644292e-02 9.63173978e+01] [ 8.44529161e-02 8.01373124e-04 9.96427149e-01 1.96205351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357105681 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:205.51, Y:96.36, Z:19.62 [[ 6.57059971e-01 -7.51844611e-01 -5.47893729e-02 2.05505549e+02] [ 7.49093233e-01 6.59339265e-01 -6.42733356e-02 9.63644024e+01] [ 8.44483459e-02 1.18908753e-03 9.96427149e-01 1.96207522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:96.41, Z:19.62 [[ 6.58466766e-01 -7.50614467e-01 -5.47671428e-02 2.05547855e+02] [ 7.47857256e-01 6.60739001e-01 -6.42922723e-02 9.64055695e+01] [ 8.44454969e-02 1.37631952e-03 9.96427149e-01 1.96215042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099998 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:205.59, Y:96.45, Z:19.63 [[ 6.56565177e-01 -7.52279963e-01 -5.47450997e-02 2.05591656e+02] [ 7.49526953e-01 6.58842498e-01 -6.43110367e-02 9.64451702e+01] [ 8.44483025e-02 1.19145944e-03 9.96427150e-01 1.96307348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099999 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:205.64, Y:96.48, Z:19.64 [[ 6.53999182e-01 -7.54513407e-01 -5.47228357e-02 2.05636550e+02] [ 7.51766590e-01 6.56283969e-01 -6.43299758e-02 9.64815713e+01] [ 8.44515490e-02 9.32951964e-04 9.96427150e-01 1.96394781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.68, Y:96.52, Z:19.65 [[ 6.46970727e-01 -7.60550248e-01 -5.47009833e-02 2.05684715e+02] [ 7.57823182e-01 6.49279053e-01 -6.43485519e-02 9.65175455e+01] [ 8.44565098e-02 1.77956189e-04 9.96427151e-01 1.96472664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:96.55, Z:19.65 [[ 6.40691221e-01 -7.65849172e-01 -5.46791180e-02 2.05732314e+02] [ 7.63139611e-01 6.43020068e-01 -6.43671263e-02 9.65548184e+01] [ 8.44552805e-02 -4.88348068e-04 9.96427151e-01 1.96486458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.78, Y:96.59, Z:19.65 [[ 6.41903639e-01 -7.64834906e-01 -5.46560605e-02 2.05775791e+02] [ 7.62119998e-01 6.44226250e-01 -6.43866992e-02 9.65933962e+01] [ 8.44560640e-02 -3.24420208e-04 9.96427151e-01 1.96538612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.82, Y:96.63, Z:19.66 [[ 6.50410415e-01 -7.57614611e-01 -5.46478969e-02 2.05820925e+02] [ 7.54873338e-01 6.52701849e-01 -6.43936273e-02 9.66317593e+01] [ 8.44543363e-02 6.30045588e-04 9.96427151e-01 1.96609311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:96.67, Z:19.68 [[ 6.59318491e-01 -7.49876869e-01 -5.46242541e-02 2.05862400e+02] [ 7.47107053e-01 6.61575339e-01 -6.44136770e-02 9.66698485e+01] [ 8.44403858e-02 1.65896285e-03 9.96427152e-01 1.96758942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.91, Y:96.71, Z:19.67 [[ 6.63004456e-01 -7.46620759e-01 -5.46125851e-02 2.05909420e+02] [ 7.43839048e-01 6.65246626e-01 -6.44235689e-02 9.67061161e+01] [ 8.44308119e-02 2.09013988e-03 9.96427152e-01 1.96738183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.96, Y:96.74, Z:19.67 [[ 6.62822339e-01 -7.46784241e-01 -5.45879547e-02 2.05955068e+02] [ 7.44001367e-01 6.65063065e-01 -6.44444323e-02 9.67442736e+01] [ 8.44305189e-02 2.10169647e-03 9.96427153e-01 1.96728333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:96.78, Z:19.68 [[ 6.58718012e-01 -7.50408851e-01 -5.45631536e-02 2.05999174e+02] [ 7.47636573e-01 6.60971833e-01 -6.44654239e-02 9.67817098e+01] [ 8.44401323e-02 1.67112672e-03 9.96427153e-01 1.96759416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:96.82, Z:19.68 [[ 6.49871481e-01 -7.58083842e-01 -5.45522490e-02 2.06044111e+02] [ 7.55337417e-01 6.52156735e-01 -6.44746503e-02 9.68204074e+01] [ 8.44538071e-02 6.94881604e-04 9.96427153e-01 1.96828566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.09, Y:96.86, Z:19.68 [[ 6.37002137e-01 -7.68930840e-01 -5.45310964e-02 2.06087279e+02] [ 7.66221796e-01 6.39331582e-01 -6.44925358e-02 9.68611378e+01] [ 8.44537518e-02 -7.01031465e-04 9.96427154e-01 1.96794745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:96.90, Z:19.69 [[ 6.29777368e-01 -7.74861000e-01 -5.45059460e-02 2.06127107e+02] [ 7.72172046e-01 6.32129974e-01 -6.45137847e-02 9.69022821e+01] [ 8.44440579e-02 -1.45864627e-03 9.96427154e-01 1.96910078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:96.95, Z:19.69 [[ 6.24860143e-01 -7.78833440e-01 -5.44818755e-02 2.06163500e+02] [ 7.76157667e-01 6.27227730e-01 -6.45341059e-02 9.69487786e+01] [ 8.44338627e-02 -1.96173476e-03 9.96427155e-01 1.96906276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:96.99, Z:19.69 [[ 6.25084643e-01 -7.78654708e-01 -5.44613148e-02 2.06200666e+02] [ 7.75976749e-01 6.27449755e-01 -6.45514528e-02 9.69932565e+01] [ 8.44350312e-02 -1.91059219e-03 9.96427155e-01 1.96917780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.24, Y:97.04, Z:19.70 [[ 6.25526256e-01 -7.78300497e-01 -5.44540168e-02 2.06236083e+02] [ 7.75620663e-01 6.27889243e-01 -6.45576086e-02 9.70399831e+01] [ 8.44363102e-02 -1.85318143e-03 9.96427155e-01 1.97023109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:97.09, Z:19.71 [[ 6.29975636e-01 -7.74705039e-01 -5.44316152e-02 2.06266967e+02] [ 7.72010084e-01 6.32321364e-01 -6.45764909e-02 9.70899927e+01] [ 8.44460061e-02 -1.34013988e-03 9.96427155e-01 1.97080164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:97.14, Z:19.73 [[ 6.45274852e-01 -7.62010494e-01 -5.44093084e-02 2.06300213e+02] [ 7.59267792e-01 6.47564568e-01 -6.45952803e-02 9.71368869e+01] [ 8.44558217e-02 3.70474523e-04 9.96427156e-01 1.97252279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:97.19, Z:19.72 [[ 6.54024573e-01 -7.54515526e-01 -5.43891410e-02 2.06333270e+02] [ 7.51745180e-01 6.56280764e-01 -6.46122568e-02 9.71867468e+01] [ 8.44454979e-02 1.37122906e-03 9.96427156e-01 1.97229675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.37, Y:97.23, Z:19.73 [[ 6.64317467e-01 -7.45470739e-01 -5.43661747e-02 2.06373109e+02] [ 7.42668119e-01 6.66533438e-01 -6.46315754e-02 9.72288917e+01] [ 8.44178216e-02 2.55985970e-03 9.96427157e-01 1.97259223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:97.27, Z:19.73 [[ 6.63912333e-01 -7.45832146e-01 -5.43582993e-02 2.06415308e+02] [ 7.43030191e-01 6.66129146e-01 -6.46381983e-02 9.72694192e+01] [ 8.44188936e-02 2.52423954e-03 9.96427157e-01 1.97308934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:97.31, Z:19.73 [[ 6.64695783e-01 -7.45135869e-01 -5.43327908e-02 2.06460057e+02] [ 7.42329844e-01 6.66907441e-01 -6.46596329e-02 9.73073706e+01] [ 8.44151542e-02 2.64613315e-03 9.96427157e-01 1.97302156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.51, Y:97.34, Z:19.73 [[ 6.61313334e-01 -7.48139993e-01 -5.43251803e-02 2.06506857e+02] [ 7.45343493e-01 6.63537024e-01 -6.46660264e-02 9.73449331e+01] [ 8.44260090e-02 2.27358591e-03 9.96427157e-01 1.97338362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:97.38, Z:19.73 [[ 6.59018642e-01 -7.50163647e-01 -5.43040716e-02 2.06557986e+02] [ 7.47372518e-01 6.61249069e-01 -6.46837479e-02 9.73768202e+01] [ 8.44319130e-02 2.04242495e-03 9.96427158e-01 1.97285326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.60, Y:97.42, Z:19.74 [[ 6.48429953e-01 -7.59335938e-01 -5.42911474e-02 2.06599723e+02] [ 7.56575470e-01 6.50698216e-01 -6.46945937e-02 9.74161172e+01] [ 8.44520828e-02 8.74562012e-04 9.96427158e-01 1.97407398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.64, Y:97.45, Z:19.74 [[ 6.32871385e-01 -7.72352826e-01 -5.42671374e-02 2.06644041e+02] [ 7.69637283e-01 6.35193243e-01 -6.47147276e-02 9.74542398e+01] [ 8.44527218e-02 -8.09912955e-04 9.96427158e-01 1.97449529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:97.49, Z:19.75 [[ 6.24240487e-01 -7.79346978e-01 -5.42411465e-02 2.06686079e+02] [ 7.76655548e-01 6.26590253e-01 -6.47365048e-02 9.74931136e+01] [ 8.44391731e-02 -1.71554010e-03 9.96427159e-01 1.97544301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.72, Y:97.54, Z:19.76 [[ 6.30611546e-01 -7.74201903e-01 -5.42262983e-02 2.06720778e+02] [ 7.71490226e-01 6.32937917e-01 -6.47489400e-02 9.75396745e+01] [ 8.44506328e-02 -1.00362989e-03 9.96427159e-01 1.97566302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:97.59, Z:19.76 [[ 6.40374649e-01 -7.66147905e-01 -5.42005219e-02 2.06751880e+02] [ 7.63405137e-01 6.42664281e-01 -6.47705100e-02 9.75893914e+01] [ 8.44565299e-02 1.00435761e-04 9.96427160e-01 1.97550073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:97.63, Z:19.77 [[ 6.61036366e-01 -7.48395735e-01 -5.41733028e-02 2.06793720e+02] [ 7.45589673e-01 6.63247972e-01 -6.47932678e-02 9.76294864e+01] [ 8.44213385e-02 2.43965119e-03 9.96427160e-01 1.97663860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:206.84, Y:97.67, Z:19.77 [[ 6.67654900e-01 -7.42498968e-01 -5.41499454e-02 2.06835516e+02] [ 7.39671809e-01 6.69839472e-01 -6.48127825e-02 9.76709300e+01] [ 8.43951950e-02 3.21938378e-03 9.96427161e-01 1.97705509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.88, Y:97.71, Z:19.77 [[ 6.69762841e-01 -7.40599675e-01 -5.41281639e-02 2.06878283e+02] [ 7.37764859e-01 6.71937467e-01 -6.48309682e-02 9.77102194e+01] [ 8.43845353e-02 3.48751634e-03 9.96427161e-01 1.97736510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:97.75, Z:19.78 [[ 6.68172058e-01 -7.42036978e-01 -5.41038218e-02 2.06922381e+02] [ 7.39205202e-01 6.70350640e-01 -6.48512763e-02 9.77496899e+01] [ 8.43905767e-02 3.33798424e-03 9.96427162e-01 1.97836582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:97.78, Z:19.79 [[ 6.69707657e-01 -7.40652861e-01 -5.40832076e-02 2.06971095e+02] [ 7.37815201e-01 6.71878569e-01 -6.48684631e-02 9.77840098e+01] [ 8.43823609e-02 3.53949375e-03 9.96427162e-01 1.97914291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.02, Y:97.82, Z:19.79 [[ 6.72134340e-01 -7.38453107e-01 -5.40595769e-02 2.07015234e+02] [ 7.35606769e-01 6.74293860e-01 -6.48881504e-02 9.78221822e+01] [ 8.43688970e-02 3.84696346e-03 9.96427162e-01 1.97948848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.07, Y:97.85, Z:19.80 [[ 6.75534731e-01 -7.35345454e-01 -5.40360131e-02 2.07068791e+02] [ 7.32487627e-01 6.77679023e-01 -6.49077674e-02 9.78525058e+01] [ 8.43487043e-02 4.26674016e-03 9.96427163e-01 1.97991442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:207.12, Y:97.88, Z:19.80 [[ 6.74804012e-01 -7.36017862e-01 -5.40115906e-02 2.07122084e+02] [ 7.33160555e-01 6.76948997e-01 -6.49280837e-02 9.78841845e+01] [ 8.43513215e-02 4.21456365e-03 9.96427163e-01 1.97976709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099998 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:97.92, Z:19.81 [[ 6.70534030e-01 -7.39911586e-01 -5.39903713e-02 2.07173002e+02] [ 7.37065329e-01 6.72693655e-01 -6.49457237e-02 9.79181091e+01] [ 8.43730736e-02 3.75388708e-03 9.96427164e-01 1.98068139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099998 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:207.22, Y:97.95, Z:19.81 [[ 6.75077613e-01 -7.35770091e-01 -5.39684112e-02 2.07222234e+02] [ 7.32909145e-01 6.77217740e-01 -6.49639670e-02 9.79520734e+01] [ 8.43469094e-02 4.30177764e-03 9.96427164e-01 1.98080254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817105681 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:97.99, Z:19.82 [[ 6.82363025e-01 -7.29019475e-01 -5.39565337e-02 2.07269756e+02] [ 7.26136613e-01 6.84473536e-01 -6.49738305e-02 9.79866241e+01] [ 8.42990072e-02 5.15592488e-03 9.96427164e-01 1.98196711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877105681 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:98.02, Z:19.82 [[ 6.81827863e-01 -7.29521771e-01 -5.39328386e-02 2.07317196e+02] [ 7.26638922e-01 6.83938392e-01 -6.49934932e-02 9.80229961e+01] [ 8.43009071e-02 5.12467494e-03 9.96427165e-01 1.98205279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937105681 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:98.06, Z:19.83 [[ 6.79967698e-01 -7.31256424e-01 -5.39256074e-02 2.07364986e+02] [ 7.28378489e-01 6.82084923e-01 -6.49994924e-02 9.80589962e+01] [ 8.43131402e-02 4.91930282e-03 9.96427165e-01 1.98289531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:207.42, Y:98.09, Z:19.83 [[ 6.79269592e-01 -7.31906448e-01 -5.39052164e-02 2.07416488e+02] [ 7.29029208e-01 6.81387761e-01 -6.50163987e-02 9.80909904e+01] [ 8.43162761e-02 4.86518539e-03 9.96427165e-01 1.98333116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:98.14, Z:19.83 [[ 6.77233038e-01 -7.33792948e-01 -5.38824707e-02 2.07454366e+02] [ 7.30920123e-01 6.79357190e-01 -6.50352438e-02 9.81364323e+01] [ 8.43278472e-02 4.66023363e-03 9.96427166e-01 1.98314273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:98.17, Z:19.84 [[ 6.80436853e-01 -7.30824751e-01 -5.38597484e-02 2.07500927e+02] [ 7.27941189e-01 6.82546406e-01 -6.50540562e-02 9.81728695e+01] [ 8.43048921e-02 5.05844799e-03 9.96427166e-01 1.98395703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:98.21, Z:19.85 [[ 6.74648444e-01 -7.36172112e-01 -5.38525629e-02 2.07547878e+02] [ 7.33304817e-01 6.76780053e-01 -6.50600038e-02 9.82087624e+01] [ 8.43417009e-02 4.40228651e-03 9.96427166e-01 1.98477707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:98.25, Z:19.86 [[ 6.62261895e-01 -7.47336299e-01 -5.38297088e-02 2.07592701e+02] [ 7.44503471e-01 6.64439100e-01 -6.50789076e-02 9.82461353e+01] [ 8.44023932e-02 3.02287565e-03 9.96427167e-01 1.98588908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:98.29, Z:19.87 [[ 6.41813421e-01 -7.64970745e-01 -5.38079262e-02 2.07635217e+02] [ 7.62196314e-01 6.44064570e-01 -6.50969128e-02 9.82851673e+01] [ 8.44530126e-02 7.67869244e-04 9.96427167e-01 1.98679497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:207.67, Y:98.33, Z:19.88 [[ 6.30627959e-01 -7.74219350e-01 -5.37845219e-02 2.07672694e+02] [ 7.71476287e-01 6.32917225e-01 -6.51162442e-02 9.83283629e+01] [ 8.44554066e-02 -4.29359099e-04 9.96427167e-01 1.98787700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:98.38, Z:19.88 [[ 6.24133719e-01 -7.79465756e-01 -5.37609087e-02 2.07701499e+02] [ 7.76740254e-01 6.26443864e-01 -6.51357338e-02 9.83795181e+01] [ 8.44492654e-02 -1.10485413e-03 9.96427168e-01 1.98831028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099998 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:98.43, Z:19.88 [[ 6.20195643e-01 -7.82604478e-01 -5.37363566e-02 2.07730248e+02] [ 7.79888911e-01 6.22517457e-01 -6.51559828e-02 9.84320371e+01] [ 8.44431840e-02 -1.49893193e-03 9.96427168e-01 1.98836062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099999 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:98.48, Z:19.89 [[ 6.24420608e-01 -7.79239289e-01 -5.37125265e-02 2.07755725e+02] [ 7.76509517e-01 6.26725704e-01 -6.51756217e-02 9.84841615e+01] [ 8.44504261e-02 -1.01128667e-03 9.96427169e-01 1.98919333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:207.78, Y:98.54, Z:19.89 [[ 6.36229317e-01 -7.69628713e-01 -5.37019543e-02 2.07776598e+02] [ 7.66863380e-01 6.38491628e-01 -6.51843316e-02 9.85422008e+01] [ 8.44559815e-02 2.90120521e-04 9.96427169e-01 1.98938063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:98.60, Z:19.90 [[ 6.50180881e-01 -7.57880914e-01 -5.36781336e-02 2.07800137e+02] [ 7.55073108e-01 6.52390257e-01 -6.52039417e-02 9.85967981e+01] [ 8.44359143e-02 1.86344105e-03 9.96427169e-01 1.98953209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717105681 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:207.83, Y:98.65, Z:19.89 [[ 6.57685274e-01 -7.51378991e-01 -5.36627558e-02 2.07826212e+02] [ 7.48548327e-01 6.59865288e-01 -6.52165952e-02 9.86497371e+01] [ 8.44125693e-02 2.72282820e-03 9.96427170e-01 1.98946159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777105681 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:98.70, Z:19.90 [[ 6.58617563e-01 -7.50563614e-01 -5.36392218e-02 2.07858659e+02] [ 7.47728680e-01 6.60792019e-01 -6.52359457e-02 9.86979806e+01] [ 8.44080969e-02 2.85795505e-03 9.96427170e-01 1.99026556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837105681 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:98.74, Z:19.91 [[ 6.51800267e-01 -7.56493142e-01 -5.36147206e-02 2.07893628e+02] [ 7.53676348e-01 6.53998170e-01 -6.52560761e-02 9.87439666e+01] [ 8.44297032e-02 2.12578097e-03 9.96427171e-01 1.99072239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897105681 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:98.79, Z:19.91 [[ 6.51525593e-01 -7.56731370e-01 -5.35913862e-02 2.07932035e+02] [ 7.53913805e-01 6.53722508e-01 -6.52752338e-02 9.87888171e+01] [ 8.44297125e-02 2.12519948e-03 9.96427171e-01 1.99123553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957105681 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:98.83, Z:19.92 [[ 6.52889782e-01 -7.55556181e-01 -5.35704138e-02 2.07966009e+02] [ 7.52733254e-01 6.55079801e-01 -6.52924410e-02 9.88341858e+01] [ 8.44250034e-02 2.30453568e-03 9.96427171e-01 1.99167955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:98.88, Z:19.92 [[ 6.49801278e-01 -7.58215523e-01 -5.35492291e-02 2.08002579e+02] [ 7.55400130e-01 6.52000975e-01 -6.53098109e-02 9.88794787e+01] [ 8.44330621e-02 1.98730399e-03 9.96427172e-01 1.99230004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077105681 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:98.92, Z:19.93 [[ 6.43152675e-01 -7.63864890e-01 -5.35263089e-02 2.08041053e+02] [ 7.61067265e-01 6.45374924e-01 -6.53285905e-02 9.89245289e+01] [ 8.44467541e-02 1.27913623e-03 9.96427172e-01 1.99259626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137105681 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:98.97, Z:19.94 [[ 6.44746590e-01 -7.62521583e-01 -5.35039245e-02 2.08073165e+02] [ 7.59717808e-01 6.46961075e-01 -6.53469181e-02 9.89736686e+01] [ 8.44433919e-02 1.48431844e-03 9.96427173e-01 1.99357344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:99.02, Z:19.94 [[ 6.53193556e-01 -7.55299958e-01 -5.34803939e-02 2.08106278e+02] [ 7.52470142e-01 6.55374664e-01 -6.53661700e-02 9.90203292e+01] [ 8.44207607e-02 2.45436144e-03 9.96427173e-01 1.99447293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099998 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:208.14, Y:99.07, Z:19.95 [[ 6.60201443e-01 -7.49182888e-01 -5.34701275e-02 2.08139660e+02] [ 7.46332201e-01 6.62355201e-01 -6.53745670e-02 9.90690995e+01] [ 8.43937240e-02 3.25390556e-03 9.96427173e-01 1.99527740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:99.12, Z:19.95 [[ 6.62492987e-01 -7.47158832e-01 -5.34483085e-02 2.08173224e+02] [ 7.44300134e-01 6.64636100e-01 -6.53924008e-02 9.91170375e+01] [ 8.43821851e-02 3.54042379e-03 9.96427174e-01 1.99544319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377105681 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:99.16, Z:19.96 [[ 6.60267880e-01 -7.49127593e-01 -5.34244886e-02 2.08214375e+02] [ 7.46273718e-01 6.62417411e-01 -6.54118555e-02 9.91588269e+01] [ 8.43911373e-02 3.32005538e-03 9.96427174e-01 1.99597007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437105681 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:208.26, Y:99.20, Z:19.96 [[ 6.62485717e-01 -7.47168656e-01 -5.34010647e-02 2.08255414e+02] [ 7.44306893e-01 6.64624734e-01 -6.54309728e-02 9.91995162e+01] [ 8.43796405e-02 3.60030436e-03 9.96427175e-01 1.99629954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:99.24, Z:19.96 [[ 6.65122784e-01 -7.44822711e-01 -5.33930011e-02 2.08297532e+02] [ 7.41952880e-01 6.67250965e-01 -6.54375523e-02 9.92423423e+01] [ 8.43659065e-02 3.90891600e-03 9.96427175e-01 1.99579226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:208.34, Y:99.28, Z:19.97 [[ 6.67794163e-01 -7.42430082e-01 -5.33716153e-02 2.08342976e+02] [ 7.39551245e-01 6.69910144e-01 -6.54549901e-02 9.92798594e+01] [ 8.43499402e-02 4.23941577e-03 9.96427175e-01 1.99672440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617105681 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:208.39, Y:99.32, Z:19.96 [[ 6.68398776e-01 -7.41887380e-01 -5.33497197e-02 2.08387484e+02] [ 7.39005410e-01 6.70510487e-01 -6.54728315e-02 9.93187083e+01] [ 8.43450139e-02 4.33622896e-03 9.96427175e-01 1.99638990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677105681 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:99.36, Z:19.97 [[ 6.63114695e-01 -7.46614722e-01 -5.33419003e-02 2.08431029e+02] [ 7.43747309e-01 6.65246131e-01 -6.54792015e-02 9.93579434e+01] [ 8.43732286e-02 3.74732594e-03 9.96427175e-01 1.99671057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737105681 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:99.40, Z:19.98 [[ 6.58001262e-01 -7.51126739e-01 -5.33194291e-02 2.08468299e+02] [ 7.48272475e-01 6.60150272e-01 -6.54974946e-02 9.94018646e+01] [ 8.43957552e-02 3.19997291e-03 9.96427176e-01 1.99792278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797105681 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:99.44, Z:19.98 [[ 6.49657180e-01 -7.58356901e-01 -5.32950194e-02 2.08512279e+02] [ 7.55524948e-01 6.51835508e-01 -6.55173507e-02 9.94408897e+01] [ 8.44251211e-02 2.29810053e-03 9.96427176e-01 1.99815941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857105681 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:208.55, Y:99.48, Z:19.98 [[ 6.47280138e-01 -7.60387647e-01 -5.32827237e-02 2.08551855e+02] [ 7.57561708e-01 6.49466262e-01 -6.55273489e-02 9.94830342e+01] [ 8.44315180e-02 2.04960026e-03 9.96427176e-01 1.99846776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:99.53, Z:19.99 [[ 6.54798566e-01 -7.53924585e-01 -5.32593394e-02 2.08590658e+02] [ 7.51075542e-01 6.56954493e-01 -6.55463497e-02 9.95265930e+01] [ 8.44059668e-02 2.91786853e-03 9.96427177e-01 1.99942204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099998 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:208.63, Y:99.57, Z:20.00 [[ 6.55969308e-01 -7.52907725e-01 -5.32374341e-02 2.08625951e+02] [ 7.50053901e-01 6.58118902e-01 -6.55641366e-02 9.95717792e+01] [ 8.44003066e-02 3.07711620e-03 9.96427177e-01 1.99970099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099999 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:99.61, Z:20.01 [[ 6.57844016e-01 -7.51271997e-01 -5.32131310e-02 2.08665431e+02] [ 7.48411240e-01 6.59984374e-01 -6.55838556e-02 9.96136151e+01] [ 8.43911491e-02 3.31864157e-03 9.96427178e-01 2.00112410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097105681 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:99.66, Z:20.01 [[ 6.55506508e-01 -7.53313201e-01 -5.32018718e-02 2.08703087e+02] [ 7.50458373e-01 6.57654766e-01 -6.55929879e-02 9.96579542e+01] [ 8.44005282e-02 3.07084031e-03 9.96427178e-01 2.00119340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:99.70, Z:20.01 [[ 6.55205931e-01 -7.53576303e-01 -5.31784086e-02 2.08740910e+02] [ 7.50720798e-01 6.57353290e-01 -6.56120048e-02 9.97029694e+01] [ 8.44006538e-02 3.06723730e-03 9.96427178e-01 2.00130630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217105681 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:99.75, Z:20.02 [[ 6.65262225e-01 -7.44715214e-01 -5.31546911e-02 2.08780361e+02] [ 7.41829623e-01 6.67368979e-01 -6.56312136e-02 9.97453550e+01] [ 8.43503553e-02 4.23024279e-03 9.96427179e-01 2.00154755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:208.82, Y:99.79, Z:20.02 [[ 6.58811583e-01 -7.50429297e-01 -5.31334995e-02 2.08815154e+02] [ 7.47560619e-01 6.60941309e-01 -6.56483654e-02 9.97919246e+01] [ 8.43825814e-02 3.52939176e-03 9.96427179e-01 2.00209618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337105681 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:99.83, Z:20.02 [[ 6.56331920e-01 -7.52600572e-01 -5.31110996e-02 2.08853178e+02] [ 7.49737481e-01 6.58469151e-01 -6.56664825e-02 9.98349429e+01] [ 8.43926530e-02 3.27962649e-03 9.96427180e-01 2.00243153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397105681 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:99.88, Z:20.03 [[ 6.37682317e-01 -7.68467740e-01 -5.30904465e-02 2.08889047e+02] [ 7.65656526e-01 6.39887338e-01 -6.56831761e-02 9.98815046e+01] [ 8.44473063e-02 1.23595310e-03 9.96427180e-01 2.00278351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:208.92, Y:99.93, Z:20.03 [[ 6.28635917e-01 -7.75886972e-01 -5.30687298e-02 2.08923430e+02] [ 7.73100307e-01 6.30871881e-01 -6.57007174e-02 9.99266893e+01] [ 8.44559001e-02 2.74379410e-04 9.96427180e-01 2.00341357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:99.98, Z:20.04 [[ 6.24241086e-01 -7.79428702e-01 -5.30468124e-02 2.08954987e+02] [ 7.76653219e-01 6.26490916e-01 -6.57184088e-02 9.99763916e+01] [ 8.44561602e-02 -1.74846687e-04 9.96427181e-01 2.00372864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:100.03, Z:20.04 [[ 6.20919685e-01 -7.82078803e-01 -5.30234861e-02 2.08985399e+02] [ 7.79311315e-01 6.23179341e-01 -6.57372238e-02 1.00026732e+02] [ 8.44548305e-02 -5.04266350e-04 9.96427181e-01 2.00423944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:100.08, Z:20.05 [[ 6.09458777e-01 -7.91044293e-01 -5.29992989e-02 2.09011024e+02] [ 7.88308334e-01 6.11756507e-01 -6.57567185e-02 1.00079989e+02] [ 8.44391429e-02 -1.70377977e-03 9.96427182e-01 2.00488840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099998 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:100.13, Z:20.07 [[ 5.97238077e-01 -8.00312555e-01 -5.29763525e-02 2.09039700e+02] [ 7.97610579e-01 5.99575673e-01 -6.57751999e-02 1.00129281e+02] [ 8.44040505e-02 -2.97104532e-03 9.96427182e-01 2.00665967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099998 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:209.06, Y:100.18, Z:20.07 [[ 5.95111157e-01 -8.01897011e-01 -5.29518235e-02 2.09062830e+02] [ 7.99199506e-01 5.97453910e-01 -6.57949410e-02 1.00184638e+02] [ 8.43970405e-02 -3.16376771e-03 9.96427183e-01 2.00710430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:100.25, Z:20.07 [[ 6.00471605e-01 -7.97892504e-01 -5.29282930e-02 2.09080543e+02] [ 7.95177702e-01 6.02794292e-01 -6.58138645e-02 1.00245283e+02] [ 8.44172620e-02 -2.56804152e-03 9.96427183e-01 2.00699457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:100.30, Z:20.08 [[ 6.08964203e-01 -7.91431629e-01 -5.29015777e-02 2.09100596e+02] [ 7.88690303e-01 6.11255524e-01 -6.58353315e-02 1.00303101e+02] [ 8.44405452e-02 -1.63160122e-03 9.96427184e-01 2.00768163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:100.36, Z:20.08 [[ 6.18078338e-01 -7.84335391e-01 -5.28882049e-02 2.09122108e+02] [ 7.81566828e-01 6.20336673e-01 -6.58460727e-02 1.00359766e+02] [ 8.44538982e-02 -6.37635416e-04 9.96427184e-01 2.00815861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:100.42, Z:20.09 [[ 6.27954458e-01 -7.76452501e-01 -5.28650429e-02 2.09144177e+02] [ 7.73654021e-01 6.30175612e-01 -6.58646633e-02 1.00416897e+02] [ 8.44550433e-02 4.60755914e-04 9.96427184e-01 2.00866880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:100.47, Z:20.09 [[ 6.39140988e-01 -7.67272249e-01 -5.28402606e-02 2.09169249e+02] [ 7.64440238e-01 6.41319227e-01 -6.58845391e-02 1.00470879e+02] [ 8.44388535e-02 1.71628805e-03 9.96427185e-01 2.00869851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:100.52, Z:20.09 [[ 6.52138217e-01 -7.56257862e-01 -5.28184841e-02 2.09196998e+02] [ 7.53387697e-01 6.54265929e-01 -6.59019923e-02 1.00523308e+02] [ 8.43962344e-02 3.18441159e-03 9.96427185e-01 2.00856989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.23, Y:100.57, Z:20.08 [[ 6.55663739e-01 -7.53205047e-01 -5.27941239e-02 2.09232764e+02] [ 7.50323415e-01 6.57775895e-01 -6.59215016e-02 1.00570754e+02] [ 8.43791098e-02 3.60967080e-03 9.96427186e-01 2.00846760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:100.62, Z:20.09 [[ 6.55289581e-01 -7.53532120e-01 -5.27722365e-02 2.09267306e+02] [ 7.50650139e-01 6.57401259e-01 -6.59390185e-02 1.00618247e+02] [ 8.43797031e-02 3.59566512e-03 9.96427186e-01 2.00926666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:100.66, Z:20.10 [[ 6.49703289e-01 -7.58355470e-01 -5.27505134e-02 2.09308975e+02] [ 7.55487771e-01 6.51834321e-01 -6.59563922e-02 1.00658506e+02] [ 8.44029859e-02 2.99971716e-03 9.96427186e-01 2.01025662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.35, Y:100.70, Z:20.10 [[ 6.39143995e-01 -7.67277618e-01 -5.27258175e-02 2.09346876e+02] [ 7.64438070e-01 6.41312395e-01 -6.59761284e-02 1.00700627e+02] [ 8.44357269e-02 1.86262412e-03 9.96427187e-01 2.01044408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:100.74, Z:20.10 [[ 6.27617189e-01 -7.76735547e-01 -5.27119975e-02 2.09390339e+02] [ 7.73927766e-01 6.29826569e-01 -6.59871681e-02 1.00740795e+02] [ 8.44539956e-02 6.19402572e-04 9.96427187e-01 2.01046009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:209.43, Y:100.78, Z:20.11 [[ 6.27652834e-01 -7.76708435e-01 -5.26870597e-02 2.09431142e+02] [ 7.73898888e-01 6.29859967e-01 -6.60070736e-02 1.00782076e+02] [ 8.44537205e-02 6.55069889e-04 9.96427188e-01 2.01089852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:100.83, Z:20.12 [[ 6.31648950e-01 -7.73463727e-01 -5.26637137e-02 2.09465315e+02] [ 7.70641291e-01 6.33839576e-01 -6.60256950e-02 1.00829144e+02] [ 8.44488261e-02 1.12022866e-03 9.96427188e-01 2.01156885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:100.87, Z:20.13 [[ 6.40666222e-01 -7.66013079e-01 -5.26379636e-02 2.09500464e+02] [ 7.63163497e-01 6.42821417e-01 -6.60462175e-02 1.00874630e+02] [ 8.44290768e-02 2.14220822e-03 9.96427188e-01 2.01257976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:100.92, Z:20.13 [[ 6.47494034e-01 -7.60252167e-01 -5.26129135e-02 2.09534174e+02] [ 7.57381806e-01 6.49621476e-01 -6.60661666e-02 1.00921238e+02] [ 8.44054249e-02 2.92938533e-03 9.96427189e-01 2.01324275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:100.96, Z:20.13 [[ 6.47826251e-01 -7.59970696e-01 -5.25898261e-02 2.09573125e+02] [ 7.57097924e-01 6.49950434e-01 -6.60845396e-02 1.00964952e+02] [ 8.44030939e-02 2.99565133e-03 9.96427189e-01 2.01327028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:209.61, Y:101.01, Z:20.13 [[ 6.48913918e-01 -7.59043895e-01 -5.25651262e-02 2.09613380e+02] [ 7.56166504e-01 6.51031839e-01 -6.61041806e-02 1.01008902e+02] [ 8.43975456e-02 3.14793509e-03 9.96427190e-01 2.01297418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:209.65, Y:101.05, Z:20.13 [[ 6.52283531e-01 -7.56151681e-01 -5.25436056e-02 2.09653117e+02] [ 7.53263532e-01 6.54386757e-01 -6.61212821e-02 1.01053217e+02] [ 8.43815583e-02 3.55064147e-03 9.96427190e-01 2.01303581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:101.10, Z:20.14 [[ 6.54389881e-01 -7.54330925e-01 -5.25237091e-02 2.09691952e+02] [ 7.51435663e-01 6.56483305e-01 -6.61370832e-02 1.01097274e+02] [ 8.43701853e-02 3.81124981e-03 9.96427191e-01 2.01376817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.73, Y:101.14, Z:20.14 [[ 6.48688147e-01 -7.59241262e-01 -5.25013807e-02 2.09729328e+02] [ 7.56360430e-01 6.50801384e-01 -6.61548034e-02 1.01141892e+02] [ 8.43954277e-02 3.20386992e-03 9.96427191e-01 2.01374024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017105681 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:209.77, Y:101.18, Z:20.15 [[ 6.43454278e-01 -7.63682523e-01 -5.24937756e-02 2.09770431e+02] [ 7.60815795e-01 6.45586609e-01 -6.61608376e-02 1.01182574e+02] [ 8.44151539e-02 2.63338031e-03 9.96427191e-01 2.01489851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077105681 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:101.23, Z:20.15 [[ 6.32902287e-01 -7.72451257e-01 -5.24761888e-02 2.09808650e+02] [ 7.69612942e-01 6.35072294e-01 -6.61747838e-02 1.01226591e+02] [ 8.44429685e-02 1.49581796e-03 9.96427191e-01 2.01535110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:209.85, Y:101.27, Z:20.16 [[ 6.30801168e-01 -7.74169633e-01 -5.24525133e-02 2.09845329e+02] [ 7.71335670e-01 6.32976855e-01 -6.61935446e-02 1.01271035e+02] [ 8.44462590e-02 1.29647070e-03 9.96427192e-01 2.01588694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.88, Y:101.32, Z:20.16 [[ 6.31572633e-01 -7.73542029e-01 -5.24284163e-02 2.09877828e+02] [ 7.70704321e-01 6.33743432e-01 -6.62126251e-02 1.01320591e+02] [ 8.44444128e-02 1.41127496e-03 9.96427192e-01 2.01625640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:101.37, Z:20.16 [[ 6.34632503e-01 -7.71035076e-01 -5.24070371e-02 2.09907044e+02] [ 7.68187399e-01 6.36790207e-01 -6.62295423e-02 1.01372688e+02] [ 8.44375882e-02 1.77299466e-03 9.96427193e-01 2.01644329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:209.94, Y:101.42, Z:20.18 [[ 6.41800049e-01 -7.65080578e-01 -5.23870892e-02 2.09936980e+02] [ 7.62211609e-01 6.43929360e-01 -6.62453172e-02 1.01422921e+02] [ 8.44165905e-02 2.58620024e-03 9.96427193e-01 2.01802644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:209.97, Y:101.47, Z:20.19 [[ 6.46406087e-01 -7.61194494e-01 -5.23651868e-02 2.09970593e+02] [ 7.58311334e-01 6.48516141e-01 -6.62626260e-02 1.01470907e+02] [ 8.43984150e-02 3.12345011e-03 9.96427193e-01 2.01857993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.01, Y:101.51, Z:20.19 [[ 6.45276023e-01 -7.62154274e-01 -5.23423051e-02 2.10007501e+02] [ 7.59272791e-01 6.47388367e-01 -6.62806960e-02 1.01514110e+02] [ 8.44019151e-02 3.02725582e-03 9.96427194e-01 2.01938432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:101.56, Z:20.19 [[ 6.47085301e-01 -7.60619967e-01 -5.23247477e-02 2.10048706e+02] [ 7.57732360e-01 6.49189266e-01 -6.62945536e-02 1.01557291e+02] [ 8.43936257e-02 3.25007667e-03 9.96427194e-01 2.01933530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:101.60, Z:20.20 [[ 6.56343955e-01 -7.52646582e-01 -5.23042535e-02 2.10086300e+02] [ 7.49732172e-01 6.58410631e-01 -6.63107190e-02 1.01600749e+02] [ 8.43462126e-02 4.30845798e-03 9.96427194e-01 2.01963270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:101.64, Z:20.20 [[ 6.64474373e-01 -7.45479837e-01 -5.22840411e-02 2.10128747e+02] [ 7.42541929e-01 6.66507508e-01 -6.63266521e-02 1.01642102e+02] [ 8.42928877e-02 5.24926778e-03 9.96427195e-01 2.02008006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:101.69, Z:20.21 [[ 6.65914779e-01 -7.44195013e-01 -5.22617456e-02 2.10167971e+02] [ 7.41251820e-01 6.67940255e-01 -6.63442151e-02 1.01685438e+02] [ 8.42807577e-02 5.44047926e-03 9.96427195e-01 2.02062764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.21, Y:101.72, Z:20.21 [[ 6.59148882e-01 -7.50195749e-01 -5.22406996e-02 2.10213067e+02] [ 7.47269719e-01 6.61199073e-01 -6.63607830e-02 1.01722850e+02] [ 8.43250794e-02 4.70374302e-03 9.96427195e-01 2.02066864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:210.26, Y:101.76, Z:20.21 [[ 6.49558913e-01 -7.58515811e-01 -5.22205317e-02 2.10258895e+02] [ 7.55614815e-01 6.51644375e-01 -6.63766497e-02 1.01760737e+02] [ 8.43769540e-02 3.65693702e-03 9.96427196e-01 2.02132914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:101.80, Z:20.22 [[ 6.39950679e-01 -7.66641084e-01 -5.21974781e-02 2.10299575e+02] [ 7.63765124e-01 6.42070533e-01 -6.63947738e-02 1.01800910e+02] [ 8.44154239e-02 2.62276734e-03 9.96427196e-01 2.02186571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:210.34, Y:101.84, Z:20.23 [[ 6.39527833e-01 -7.66994867e-01 -5.21826185e-02 2.10343250e+02] [ 7.64119129e-01 6.41647988e-01 -6.64064506e-02 1.01838527e+02] [ 8.44162789e-02 2.59503647e-03 9.96427196e-01 2.02255943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:101.88, Z:20.23 [[ 6.49737977e-01 -7.58366092e-01 -5.21673443e-02 2.10380058e+02] [ 7.55461275e-01 6.51818112e-01 -6.64184475e-02 1.01883539e+02] [ 8.43731183e-02 3.74417924e-03 9.96427197e-01 2.02334706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099999 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:101.93, Z:20.24 [[ 6.58625138e-01 -7.50662155e-01 -5.21464898e-02 2.10416344e+02] [ 7.47731758e-01 6.60669080e-01 -6.64348168e-02 1.01928435e+02] [ 8.43216762e-02 4.76405388e-03 9.96427197e-01 2.02376614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097105681 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:101.97, Z:20.24 [[ 6.63185324e-01 -7.46637942e-01 -5.21249525e-02 2.10454778e+02] [ 7.43693839e-01 6.65209473e-01 -6.64517107e-02 1.01971986e+02] [ 8.42893807e-02 5.30479324e-03 9.96427197e-01 2.02434042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:102.02, Z:20.25 [[ 6.63831097e-01 -7.46065541e-01 -5.21007111e-02 2.10493823e+02] [ 7.43118218e-01 6.65850553e-01 -6.64707116e-02 1.02016462e+02] [ 8.42827947e-02 5.40833775e-03 9.96427198e-01 2.02451646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217105681 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:102.06, Z:20.25 [[ 6.67367480e-01 -7.42905418e-01 -5.20786520e-02 2.10535858e+02] [ 7.39947209e-01 6.69370955e-01 -6.64879901e-02 1.02056311e+02] [ 8.42542251e-02 5.83646924e-03 9.96427198e-01 2.02504099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:102.10, Z:20.25 [[ 6.69506151e-01 -7.40979173e-01 -5.20709042e-02 2.10575919e+02] [ 7.38014737e-01 6.71500400e-01 -6.64940573e-02 1.02099162e+02] [ 8.42363446e-02 6.08908559e-03 9.96427198e-01 2.02541909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337105681 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:102.14, Z:20.26 [[ 6.67296074e-01 -7.42971726e-01 -5.20477055e-02 2.10616250e+02] [ 7.40011850e-01 6.69297084e-01 -6.65122110e-02 1.02142427e+02] [ 8.42520698e-02 5.86741837e-03 9.96427199e-01 2.02564878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397105681 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:102.18, Z:20.26 [[ 6.67187608e-01 -7.43070751e-01 -5.20245493e-02 2.10657947e+02] [ 7.40109778e-01 6.69186994e-01 -6.65303184e-02 1.02183159e+02] [ 8.42508855e-02 5.88432641e-03 9.96427199e-01 2.02573846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:102.22, Z:20.27 [[ 6.64279201e-01 -7.45672461e-01 -5.20165757e-02 2.10702739e+02] [ 7.42718842e-01 6.66289434e-01 -6.65365520e-02 1.02222532e+02] [ 8.42725693e-02 5.56515671e-03 9.96427199e-01 2.02661855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:102.26, Z:20.27 [[ 6.61219333e-01 -7.48388608e-01 -5.19950416e-02 2.10745517e+02] [ 7.45441942e-01 6.63239745e-01 -6.65533756e-02 1.02262378e+02] [ 8.42929663e-02 5.24709380e-03 9.96427199e-01 2.02745726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:102.30, Z:20.29 [[ 6.55547414e-01 -7.53362728e-01 -5.19825779e-02 2.10790382e+02] [ 7.50430645e-01 6.57588930e-01 -6.65631092e-02 1.02299717e+02] [ 8.43293333e-02 4.62595467e-03 9.96427200e-01 2.02920570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:102.34, Z:20.29 [[ 6.52679417e-01 -7.55849855e-01 -5.19670580e-02 2.10830162e+02] [ 7.52924597e-01 6.54730701e-01 -6.65752237e-02 1.02341846e+02] [ 8.43453015e-02 4.32500201e-03 9.96427200e-01 2.02934085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:102.38, Z:20.30 [[ 6.57973942e-01 -7.51247084e-01 -5.19433477e-02 2.10868433e+02] [ 7.48306043e-01 6.60002532e-01 -6.65937178e-02 1.02383843e+02] [ 8.43110773e-02 4.94740999e-03 9.96427200e-01 2.02986740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:102.43, Z:20.30 [[ 6.66382769e-01 -7.43799765e-01 -5.19222042e-02 2.10907985e+02] [ 7.40834828e-01 6.68376270e-01 -6.66101991e-02 1.02426916e+02] [ 8.42482196e-02 5.92211171e-03 9.96427201e-01 2.03016340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:102.47, Z:20.31 [[ 6.66364587e-01 -7.43817707e-01 -5.18985161e-02 2.10944053e+02] [ 7.40851405e-01 6.68356056e-01 -6.66286503e-02 1.02472052e+02] [ 8.42462574e-02 5.94988445e-03 9.96427201e-01 2.03055639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:102.51, Z:20.31 [[ 6.63167786e-01 -7.46670941e-01 -5.18747795e-02 2.10984497e+02] [ 7.43711786e-01 6.65169858e-01 -6.66471258e-02 1.02514191e+02] [ 8.42690118e-02 5.61834199e-03 9.96427202e-01 2.03076698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:102.56, Z:20.29 [[ 6.49934601e-01 -7.58219218e-01 -5.18520225e-02 2.11022688e+02] [ 7.55294329e-01 6.51986409e-01 -6.66648262e-02 1.02559527e+02] [ 8.43533663e-02 4.16423861e-03 9.96427202e-01 2.02940433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:211.07, Y:102.60, Z:20.31 [[ 6.41506625e-01 -7.65364729e-01 -5.18274103e-02 2.11066870e+02] [ 7.62461185e-01 6.43588527e-01 -6.66839551e-02 1.02597497e+02] [ 8.43930739e-02 3.26181035e-03 9.96427202e-01 2.03123581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:102.64, Z:20.33 [[ 6.26577113e-01 -7.77636128e-01 -5.17993598e-02 2.11105810e+02] [ 7.74771618e-01 6.28712402e-01 -6.67057374e-02 1.02639276e+02] [ 8.44396913e-02 1.66361451e-03 9.96427203e-01 2.03281951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:102.68, Z:20.33 [[ 6.14856667e-01 -7.86937570e-01 -5.17739357e-02 2.11141751e+02] [ 7.84103715e-01 6.17032476e-01 -6.67254647e-02 1.02684017e+02] [ 8.44549747e-02 4.30461514e-04 9.96427204e-01 2.03342107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:211.17, Y:102.73, Z:20.34 [[ 6.09849255e-01 -7.90826035e-01 -5.17500688e-02 2.11172482e+02] [ 7.88004483e-01 6.12040993e-01 -6.67439699e-02 1.02733137e+02] [ 8.44560326e-02 -7.55258898e-05 9.96427204e-01 2.03405278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.237105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:102.78, Z:20.35 [[ 6.11807299e-01 -7.89313836e-01 -5.17252030e-02 2.11201347e+02] [ 7.86485238e-01 6.13989935e-01 -6.67632349e-02 1.02783648e+02] [ 8.44558991e-02 1.65125890e-04 9.96427204e-01 2.03491452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:102.83, Z:20.35 [[ 6.18948947e-01 -7.83727805e-01 -5.17003716e-02 2.11228812e+02] [ 7.80877906e-01 6.21103694e-01 -6.67824585e-02 1.02834982e+02] [ 8.44505614e-02 9.63254447e-04 9.96427205e-01 2.03477352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:102.88, Z:20.35 [[ 6.24410486e-01 -7.79384720e-01 -5.16817486e-02 2.11259185e+02] [ 7.76518646e-01 6.26543671e-01 -6.67968674e-02 1.02883463e+02] [ 8.44413303e-02 1.57682297e-03 9.96427205e-01 2.03497726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099998 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:211.29, Y:102.93, Z:20.35 [[ 6.31103379e-01 -7.73976496e-01 -5.16614793e-02 2.11292851e+02] [ 7.71090870e-01 6.33210040e-01 -6.68125403e-02 1.02931566e+02] [ 8.44239032e-02 2.32992494e-03 9.96427206e-01 2.03523593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099998 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:211.33, Y:102.98, Z:20.36 [[ 6.35083736e-01 -7.70715311e-01 -5.16387099e-02 2.11327713e+02] [ 7.67817445e-01 6.37173528e-01 -6.68301339e-02 1.02977843e+02] [ 8.44098264e-02 2.79362884e-03 9.96427206e-01 2.03578577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099999 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:211.36, Y:103.03, Z:20.36 [[ 6.36698880e-01 -7.69383246e-01 -5.16135297e-02 2.11359655e+02] [ 7.66479437e-01 6.38780406e-01 -6.68495752e-02 1.03026211e+02] [ 8.44026546e-02 3.00234050e-03 9.96427207e-01 2.03613254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:103.07, Z:20.37 [[ 6.34972354e-01 -7.70809547e-01 -5.16018655e-02 2.11393792e+02] [ 7.67909685e-01 6.37059374e-01 -6.68585777e-02 1.03074288e+02] [ 8.44086821e-02 2.82777620e-03 9.96427207e-01 2.03654473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:103.12, Z:20.37 [[ 6.29833849e-01 -7.75015371e-01 -5.15800028e-02 2.11426623e+02] [ 7.72128075e-01 6.31938218e-01 -6.68754401e-02 1.03122693e+02] [ 8.44248691e-02 2.29404758e-03 9.96427207e-01 2.03673913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717105681 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:211.46, Y:103.17, Z:20.38 [[ 6.13555538e-01 -7.87966735e-01 -5.15560570e-02 2.11461818e+02] [ 7.85122348e-01 6.15717553e-01 -6.68938955e-02 1.03168248e+02] [ 8.44541337e-02 5.65307542e-04 9.96427207e-01 2.03786263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777105681 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:211.49, Y:103.21, Z:20.38 [[ 6.00267370e-01 -7.98137607e-01 -5.15310056e-02 2.11494913e+02] [ 7.95328193e-01 6.02474639e-01 -6.69131881e-02 1.03214790e+02] [ 8.44520558e-02 -8.18258221e-04 9.96427208e-01 2.03842972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837105681 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:211.53, Y:103.26, Z:20.40 [[ 5.97965560e-01 -7.99864982e-01 -5.15092180e-02 2.11527909e+02] [ 7.97060500e-01 6.00179091e-01 -6.69299559e-02 1.03262138e+02] [ 8.44496836e-02 -1.03415448e-03 9.96427208e-01 2.03966936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:211.55, Y:103.31, Z:20.40 [[ 6.00728238e-01 -7.97793747e-01 -5.14851548e-02 2.11554383e+02] [ 7.94980046e-01 6.02930038e-01 -6.69484612e-02 1.03313322e+02] [ 8.44530100e-02 -7.11839537e-04 9.96427209e-01 2.04038135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:103.37, Z:20.41 [[ 6.08360784e-01 -7.91990408e-01 -5.14621234e-02 2.11581877e+02] [ 7.89154203e-01 6.10533519e-01 -6.69661603e-02 1.03365737e+02] [ 8.44559079e-02 1.28034788e-04 9.96427209e-01 2.04092298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017105681 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:103.42, Z:20.41 [[ 6.17916239e-01 -7.84559470e-01 -5.14388866e-02 2.11607251e+02] [ 7.81695657e-01 6.20052452e-01 -6.69840046e-02 1.03419506e+02] [ 8.44477429e-02 1.18094992e-03 9.96427210e-01 2.04107821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077105681 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:103.47, Z:20.41 [[ 6.27886706e-01 -7.76604694e-01 -5.14143412e-02 2.11634058e+02] [ 7.73712295e-01 6.29984051e-01 -6.70028394e-02 1.03472832e+02] [ 8.44249345e-02 2.29028418e-03 9.96427210e-01 2.04085341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:103.52, Z:20.41 [[ 6.35952214e-01 -7.70015553e-01 -5.13890002e-02 2.11665376e+02] [ 7.67099878e-01 6.38017078e-01 -6.70222696e-02 1.03522640e+02] [ 8.43952497e-02 3.20246499e-03 9.96427211e-01 2.04133189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099998 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:211.70, Y:103.57, Z:20.42 [[ 6.38696687e-01 -7.67741657e-01 -5.13740254e-02 2.11697964e+02] [ 7.64817715e-01 6.40749827e-01 -6.70337462e-02 1.03572350e+02] [ 8.43824972e-02 3.52246689e-03 9.96427211e-01 2.04150946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099998 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:103.62, Z:20.42 [[ 6.39399234e-01 -7.67158237e-01 -5.13503589e-02 2.11735737e+02] [ 7.64230972e-01 6.41447634e-01 -6.70518707e-02 1.03616848e+02] [ 8.43779611e-02 3.62938000e-03 9.96427211e-01 2.04162535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317105681 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:103.66, Z:20.42 [[ 6.36128552e-01 -7.69873011e-01 -5.13421169e-02 2.11773172e+02] [ 7.66953985e-01 6.38188675e-01 -6.70581811e-02 1.03660342e+02] [ 8.43922413e-02 3.28058244e-03 9.96427211e-01 2.04223401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:211.81, Y:103.70, Z:20.44 [[ 6.27630264e-01 -7.76818372e-01 -5.13173377e-02 2.11813736e+02] [ 7.73920619e-01 6.29720202e-01 -6.70771385e-02 1.03701724e+02] [ 8.44223178e-02 2.38409638e-03 9.96427212e-01 2.04364399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:103.75, Z:20.45 [[ 6.21185404e-01 -7.81983007e-01 -5.12959012e-02 2.11850776e+02] [ 7.79101288e-01 6.23297395e-01 -6.70935276e-02 1.03746595e+02] [ 8.44386001e-02 1.71281737e-03 9.96427212e-01 2.04458094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497105681 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:103.79, Z:20.45 [[ 6.18803688e-01 -7.83870474e-01 -5.12745131e-02 2.11883058e+02] [ 7.80993843e-01 6.20922605e-01 -6.71098690e-02 1.03794784e+02] [ 8.44429491e-02 1.48275543e-03 9.96427213e-01 2.04453183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:103.84, Z:20.45 [[ 6.13703304e-01 -7.87871185e-01 -5.12567203e-02 2.11920019e+02] [ 7.85007236e-01 6.15839330e-01 -6.71234560e-02 1.03839957e+02] [ 8.44505410e-02 9.56990348e-04 9.96427213e-01 2.04456022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617105681 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:103.89, Z:20.45 [[ 6.10472540e-01 -7.90378669e-01 -5.12331745e-02 2.11950186e+02] [ 7.87521987e-01 6.12618274e-01 -6.71414229e-02 1.03889319e+02] [ 8.44535274e-02 6.40743594e-04 9.96427213e-01 2.04528104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677105681 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:103.94, Z:20.46 [[ 6.09422635e-01 -7.91189458e-01 -5.12180905e-02 2.11984378e+02] [ 7.88334664e-01 6.11570880e-01 -6.71529276e-02 1.03935685e+02] [ 8.44541811e-02 5.47517936e-04 9.96427213e-01 2.04580134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737105681 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:212.02, Y:103.98, Z:20.46 [[ 6.03731716e-01 -7.95542108e-01 -5.11934574e-02 2.12016936e+02] [ 7.92701210e-01 6.05898304e-01 -6.71717013e-02 1.03984308e+02] [ 8.44559458e-02 -2.74291317e-05 9.96427214e-01 2.04590770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:212.05, Y:104.03, Z:20.47 [[ 5.99061390e-01 -7.99066313e-01 -5.11710744e-02 2.12046367e+02] [ 7.96236704e-01 6.01242699e-01 -6.71887482e-02 1.04033557e+02] [ 8.44545002e-02 -4.94102707e-04 9.96427214e-01 2.04699181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:104.08, Z:20.48 [[ 5.94182722e-01 -8.02702298e-01 -5.11460136e-02 2.12075583e+02] [ 7.99884393e-01 5.96379130e-01 -6.72078199e-02 1.04084485e+02] [ 8.44502865e-02 -9.77172664e-04 9.96427215e-01 2.04778311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:104.14, Z:20.48 [[ 5.91818466e-01 -8.04448615e-01 -5.11207299e-02 2.12100480e+02] [ 8.01635530e-01 5.94021044e-01 -6.72270461e-02 1.04137463e+02] [ 8.44474935e-02 -1.19398614e-03 9.96427215e-01 2.04844427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:104.19, Z:20.49 [[ 5.94185362e-01 -8.02703598e-01 -5.10949061e-02 2.12125731e+02] [ 7.99882357e-01 5.96377481e-01 -6.72466675e-02 1.04190121e+02] [ 8.44509933e-02 -9.12928530e-04 9.96427216e-01 2.04922965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099999 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:212.15, Y:104.24, Z:20.49 [[ 5.95775038e-01 -8.01525424e-01 -5.10793305e-02 2.12154895e+02] [ 7.98698834e-01 5.97960255e-01 -6.72584963e-02 1.04241825e+02] [ 8.44528043e-02 -7.26068508e-04 9.96427216e-01 2.04887425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:212.18, Y:104.29, Z:20.50 [[ 5.95762752e-01 -8.01536041e-01 -5.10560333e-02 2.12183310e+02] [ 7.98707975e-01 5.97946057e-01 -6.72761767e-02 1.04292226e+02] [ 8.44530341e-02 -6.98220826e-04 9.96427216e-01 2.05015079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.21, Y:104.34, Z:20.51 [[ 5.84703318e-01 -8.09640540e-01 -5.10316113e-02 2.12209798e+02] [ 8.06841103e-01 5.86923213e-01 -6.72946967e-02 1.04343854e+02] [ 8.44361518e-02 -1.82696912e-03 9.96427217e-01 2.05089713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.24, Y:104.39, Z:20.51 [[ 5.79297358e-01 -8.13518047e-01 -5.10191937e-02 2.12244052e+02] [ 8.10732635e-01 5.81534824e-01 -6.73041097e-02 1.04391574e+02] [ 8.44225458e-02 -2.37383238e-03 9.96427217e-01 2.05109664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:104.45, Z:20.52 [[ 5.78215619e-01 -8.14288771e-01 -5.09950499e-02 2.12263705e+02] [ 8.11504731e-01 5.80454792e-01 -6.73223981e-02 1.04448474e+02] [ 8.44201939e-02 -2.45586221e-03 9.96427217e-01 2.05187707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:104.50, Z:20.52 [[ 5.88561611e-01 -8.06843195e-01 -5.09832158e-02 2.12288821e+02] [ 8.04030029e-01 5.90764082e-01 -6.73313589e-02 1.04501554e+02] [ 8.44449014e-02 -1.36338341e-03 9.96427218e-01 2.05189881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:104.56, Z:20.52 [[ 6.00947669e-01 -7.97662087e-01 -5.09616886e-02 2.12311268e+02] [ 7.94813878e-01 6.03104629e-01 -6.73476484e-02 1.04558108e+02] [ 8.44558961e-02 -3.26449921e-05 9.96427218e-01 2.05210588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.34, Y:104.61, Z:20.53 [[ 6.11928410e-01 -7.89271135e-01 -5.09381546e-02 2.12335139e+02] [ 7.86391875e-01 6.14043742e-01 -6.73654436e-02 1.04612217e+02] [ 8.44478552e-02 1.16547795e-03 9.96427218e-01 2.05318980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:104.66, Z:20.54 [[ 6.13359146e-01 -7.88160793e-01 -5.09227063e-02 2.12367540e+02] [ 7.85276735e-01 6.15467931e-01 -6.73771193e-02 1.04660087e+02] [ 8.44452965e-02 1.33795587e-03 9.96427219e-01 2.05435517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:104.71, Z:20.54 [[ 6.12172000e-01 -7.89084660e-01 -5.09003158e-02 2.12399273e+02] [ 7.86202378e-01 6.14283212e-01 -6.73940301e-02 1.04708411e+02] [ 8.44468048e-02 1.23878877e-03 9.96427219e-01 2.05444589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:104.75, Z:20.54 [[ 6.19049754e-01 -7.83702180e-01 -5.08752886e-02 2.12434474e+02] [ 7.80800000e-01 6.21133527e-01 -6.74129177e-02 1.04754602e+02] [ 8.44319980e-02 2.00852477e-03 9.96427219e-01 2.05430750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:104.80, Z:20.55 [[ 6.25276260e-01 -7.78744977e-01 -5.08513429e-02 2.12467004e+02] [ 7.75824821e-01 6.27334767e-01 -6.74309758e-02 1.04802312e+02] [ 8.44123490e-02 2.71125438e-03 9.96427220e-01 2.05476181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:104.85, Z:20.55 [[ 6.25742033e-01 -7.78372422e-01 -5.08259800e-02 2.12505910e+02] [ 7.75449493e-01 6.27796598e-01 -6.74500876e-02 1.04845610e+02] [ 8.44096655e-02 2.79337450e-03 9.96427220e-01 2.05525661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.55, Y:104.89, Z:20.56 [[ 6.19789091e-01 -7.83122419e-01 -5.08011789e-02 2.12549049e+02] [ 7.80213717e-01 6.21863749e-01 -6.74687619e-02 1.04885075e+02] [ 8.44277116e-02 2.18062604e-03 9.96427221e-01 2.05581519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:104.93, Z:20.56 [[ 6.12963614e-01 -7.88477899e-01 -5.07760796e-02 2.12588959e+02] [ 7.85585770e-01 6.15061311e-01 -6.74876461e-02 1.04927731e+02] [ 8.44429195e-02 1.47850590e-03 9.96427221e-01 2.05642712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:104.97, Z:20.57 [[ 6.04076195e-01 -7.95308929e-01 -5.07509369e-02 2.12630570e+02] [ 7.92438941e-01 6.06204084e-01 -6.75065483e-02 1.04968824e+02] [ 8.44539858e-02 5.62080140e-04 9.96427222e-01 2.05699261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.67, Y:105.01, Z:20.57 [[ 5.99251348e-01 -7.98952293e-01 -5.07252955e-02 2.12668637e+02] [ 7.96093611e-01 6.01394402e-01 -6.75258101e-02 1.05010701e+02] [ 8.44558095e-02 8.28490596e-05 9.96427222e-01 2.05745533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.70, Y:105.06, Z:20.58 [[ 6.01383816e-01 -7.97349855e-01 -5.07022052e-02 2.12702901e+02] [ 7.94484002e-01 6.03517269e-01 -6.75431432e-02 1.05057919e+02] [ 8.44551719e-02 3.37262310e-04 9.96427223e-01 2.05772482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:105.11, Z:20.58 [[ 6.02117236e-01 -7.96797723e-01 -5.06776364e-02 2.12736211e+02] [ 7.93928362e-01 6.04245968e-01 -6.75615721e-02 1.05106950e+02] [ 8.44546643e-02 4.45574153e-04 9.96427223e-01 2.05795093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:212.77, Y:105.15, Z:20.59 [[ 6.03485731e-01 -7.95763070e-01 -5.06567666e-02 2.12771441e+02] [ 7.92888746e-01 6.05607757e-01 -6.75772165e-02 1.05152874e+02] [ 8.44535841e-02 6.16705744e-04 9.96427224e-01 2.05928995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:105.20, Z:20.60 [[ 6.09023295e-01 -7.91534480e-01 -5.06339173e-02 2.12801156e+02] [ 7.88644002e-01 6.11123264e-01 -6.75943326e-02 1.05201525e+02] [ 8.44468097e-02 1.23438792e-03 9.96427224e-01 2.06024254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:105.25, Z:20.60 [[ 6.19809657e-01 -7.83118429e-01 -5.06114113e-02 2.12834218e+02] [ 7.80198087e-01 6.21867891e-01 -6.76111799e-02 1.05248465e+02] [ 8.44211726e-02 2.41913600e-03 9.96427224e-01 2.06042580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.87, Y:105.30, Z:20.60 [[ 6.25101927e-01 -7.78901590e-01 -5.05953966e-02 2.12866567e+02] [ 7.75966405e-01 6.27138937e-01 -6.76231620e-02 1.05298723e+02] [ 8.44021317e-02 3.01104085e-03 9.96427225e-01 2.06009285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:212.90, Y:105.34, Z:20.60 [[ 6.28129929e-01 -7.76463240e-01 -5.05730054e-02 2.12903172e+02] [ 7.73518808e-01 6.30153550e-01 -6.76399035e-02 1.05342824e+02] [ 8.43886575e-02 3.36747693e-03 9.96427225e-01 2.06033223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099998 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:212.94, Y:105.39, Z:20.61 [[ 6.30893145e-01 -7.74221238e-01 -5.05501137e-02 2.12938623e+02] [ 7.71268255e-01 6.32904265e-01 -6.76570071e-02 1.05388046e+02] [ 8.43748744e-02 3.69664405e-03 9.96427225e-01 2.06086686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:212.97, Y:105.43, Z:20.61 [[ 6.37403190e-01 -7.68872195e-01 -5.05244616e-02 2.12972930e+02] [ 7.65900846e-01 6.39387076e-01 -6.76761581e-02 1.05433370e+02] [ 8.43390039e-02 4.44027122e-03 9.96427226e-01 2.06112666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:105.48, Z:20.62 [[ 6.40198437e-01 -7.66547781e-01 -5.05020834e-02 2.13011065e+02] [ 7.63567927e-01 6.42169524e-01 -6.76928533e-02 1.05476523e+02] [ 8.43207054e-02 4.77508772e-03 9.96427226e-01 2.06152214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:105.52, Z:20.62 [[ 6.40883111e-01 -7.65976885e-01 -5.04801892e-02 2.13049939e+02] [ 7.62994002e-01 6.42849610e-01 -6.77091765e-02 1.05521403e+02] [ 8.43148340e-02 4.87758618e-03 9.96427227e-01 2.06169453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:105.56, Z:20.62 [[ 6.38580712e-01 -7.67898926e-01 -5.04570399e-02 2.13094750e+02] [ 7.64920613e-01 6.40554125e-01 -6.77264230e-02 1.05559609e+02] [ 8.43275126e-02 4.65315754e-03 9.96427227e-01 2.06193611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:105.60, Z:20.62 [[ 6.32145172e-01 -7.73205917e-01 -5.04489025e-02 2.13138900e+02] [ 7.70243710e-01 6.34142679e-01 -6.77324840e-02 1.05600100e+02] [ 8.43629596e-02 3.95881293e-03 9.96427227e-01 2.06242549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:213.18, Y:105.64, Z:20.63 [[ 6.25437592e-01 -7.78643152e-01 -5.04247968e-02 2.13181946e+02] [ 7.75696887e-01 6.27458540e-01 -6.77504253e-02 1.05640471e+02] [ 8.43928740e-02 3.25930493e-03 9.96427228e-01 2.06296484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:105.68, Z:20.64 [[ 6.20150606e-01 -7.82862026e-01 -5.04011276e-02 2.13224583e+02] [ 7.79928092e-01 6.22189413e-01 -6.77680288e-02 1.05680736e+02] [ 8.44120643e-02 2.71712884e-03 9.96427228e-01 2.06358025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:105.72, Z:20.64 [[ 6.19648945e-01 -7.83260746e-01 -5.03764642e-02 2.13263517e+02] [ 7.80326638e-01 6.21687500e-01 -6.77863578e-02 1.05724634e+02] [ 8.44128113e-02 2.69364822e-03 9.96427228e-01 2.06434058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:105.77, Z:20.65 [[ 6.24602450e-01 -7.79317804e-01 -5.03541462e-02 2.13303400e+02] [ 7.76369504e-01 6.26620424e-01 -6.78029324e-02 1.05766912e+02] [ 8.43929688e-02 3.25645421e-03 9.96427229e-01 2.06541760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:213.34, Y:105.81, Z:20.66 [[ 6.28673565e-01 -7.76038959e-01 -5.03297482e-02 2.13342494e+02] [ 7.73078698e-01 6.30673951e-01 -6.78210382e-02 1.05809608e+02] [ 8.43734290e-02 3.72843763e-03 9.96427229e-01 2.06611209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137105681 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:105.85, Z:20.66 [[ 6.33957487e-01 -7.71730106e-01 -5.03045543e-02 2.13380379e+02] [ 7.68754789e-01 6.35935410e-01 -6.78397200e-02 1.05854266e+02] [ 8.43444017e-02 4.33563136e-03 9.96427230e-01 2.06626998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099998 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:213.42, Y:105.90, Z:20.67 [[ 6.35325347e-01 -7.70606097e-01 -5.02786844e-02 2.13420861e+02] [ 7.67625777e-01 6.37295722e-01 -6.78588878e-02 1.05895015e+02] [ 8.43348632e-02 4.51725721e-03 9.96427230e-01 2.06665088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099998 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:213.46, Y:105.94, Z:20.67 [[ 6.36825048e-01 -7.69368910e-01 -5.02527430e-02 2.13461703e+02] [ 7.66383261e-01 6.38787337e-01 -6.78780933e-02 1.05936985e+02] [ 8.43241105e-02 4.71360904e-03 9.96427231e-01 2.06687897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:105.98, Z:20.67 [[ 6.37884237e-01 -7.68492586e-01 -5.02279336e-02 2.13501105e+02] [ 7.65502809e-01 6.39840231e-01 -6.78964467e-02 1.05980181e+02] [ 8.43157685e-02 4.86044881e-03 9.96427231e-01 2.06733293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377105681 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:106.02, Z:20.68 [[ 6.36651094e-01 -7.69515294e-01 -5.02155072e-02 2.13542440e+02] [ 7.66527942e-01 6.38610788e-01 -6.79056359e-02 1.06019988e+02] [ 8.43225900e-02 4.74060794e-03 9.96427231e-01 2.06761017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:213.58, Y:106.06, Z:20.68 [[ 6.34808566e-01 -7.71037363e-01 -5.01943164e-02 2.13584322e+02] [ 7.68053483e-01 6.36773543e-01 -6.79212960e-02 1.06062824e+02] [ 8.43322697e-02 4.56510100e-03 9.96427232e-01 2.06780663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:106.10, Z:20.69 [[ 6.33649080e-01 -7.71991870e-01 -5.01736555e-02 2.13625854e+02] [ 7.69009752e-01 6.35616729e-01 -6.79365549e-02 1.06103435e+02] [ 8.43376829e-02 4.46390515e-03 9.96427232e-01 2.06871551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557105681 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:106.15, Z:20.70 [[ 6.31954425e-01 -7.73381363e-01 -5.01484965e-02 2.13666122e+02] [ 7.70402110e-01 6.33926408e-01 -6.79551214e-02 1.06146483e+02] [ 8.43456807e-02 4.31003224e-03 9.96427233e-01 2.06971798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:106.19, Z:20.70 [[ 6.34156892e-01 -7.71577849e-01 -5.01264324e-02 2.13706761e+02] [ 7.68591714e-01 6.36118437e-01 -6.79713929e-02 1.06188423e+02] [ 8.43315690e-02 4.57776664e-03 9.96427233e-01 2.06981754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:106.23, Z:20.71 [[ 6.34616316e-01 -7.71201585e-01 -5.01023648e-02 2.13748357e+02] [ 7.68212898e-01 6.36573971e-01 -6.79891288e-02 1.06229528e+02] [ 8.43271852e-02 4.65772757e-03 9.96427233e-01 2.07077029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:106.27, Z:20.71 [[ 6.30494738e-01 -7.74576423e-01 -5.00774445e-02 2.13785872e+02] [ 7.71596776e-01 6.32466124e-01 -6.80074790e-02 1.06272444e+02] [ 8.43492770e-02 4.23876298e-03 9.96427234e-01 2.07114822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797105681 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:106.31, Z:20.72 [[ 6.22878846e-01 -7.80715350e-01 -5.00548203e-02 2.13828613e+02] [ 7.77753825e-01 6.24877352e-01 -6.80241268e-02 1.06311568e+02] [ 8.43856035e-02 3.44046168e-03 9.96427234e-01 2.07189049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:106.36, Z:20.73 [[ 6.12806162e-01 -7.88647766e-01 -5.00330818e-02 2.13867227e+02] [ 7.85710840e-01 6.14840645e-01 -6.80401122e-02 1.06355084e+02] [ 8.44220547e-02 2.38386528e-03 9.96427235e-01 2.07262232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099998 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:106.40, Z:20.73 [[ 6.03346337e-01 -7.95909730e-01 -5.00089911e-02 2.13904474e+02] [ 7.92995844e-01 6.05413682e-01 -6.80578141e-02 1.06397877e+02] [ 8.44440039e-02 1.40551082e-03 9.96427235e-01 2.07317437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099998 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:106.45, Z:20.73 [[ 5.98131251e-01 -7.99837880e-01 -4.99837242e-02 2.13934658e+02] [ 7.96936023e-01 6.00215447e-01 -6.80763659e-02 1.06447833e+02] [ 8.44510595e-02 8.84771482e-04 9.96427236e-01 2.07326995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099999 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:106.50, Z:20.74 [[ 5.97700463e-01 -8.00161384e-01 -4.99591373e-02 2.13962706e+02] [ 7.97259148e-01 5.99784130e-01 -6.80944047e-02 1.06498202e+02] [ 8.44512108e-02 8.69678040e-04 9.96427236e-01 2.07401727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:106.55, Z:20.75 [[ 5.96056069e-01 -8.01388494e-01 -4.99364027e-02 2.13990676e+02] [ 7.98489151e-01 5.98143760e-01 -6.81110729e-02 1.06549298e+02] [ 8.44525778e-02 7.24342623e-04 9.96427236e-01 2.07466930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:106.60, Z:20.75 [[ 5.96846108e-01 -8.00801781e-01 -4.99122348e-02 2.14016654e+02] [ 7.97898905e-01 5.98928883e-01 -6.81287787e-02 1.06600670e+02] [ 8.44515263e-02 8.37478895e-04 9.96427237e-01 2.07500803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217105681 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:106.65, Z:20.75 [[ 6.04336961e-01 -7.95165475e-01 -4.98869256e-02 2.14043255e+02] [ 7.92241653e-01 6.06390227e-01 -6.81473062e-02 1.06653339e+02] [ 8.44393293e-02 1.66143547e-03 9.96427237e-01 2.07521474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:106.71, Z:20.76 [[ 6.09577908e-01 -7.91156443e-01 -4.98623803e-02 2.14069782e+02] [ 7.88217657e-01 6.11609697e-01 -6.81652610e-02 1.06705964e+02] [ 8.44257008e-02 2.24962865e-03 9.96427238e-01 2.07569699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:106.76, Z:20.76 [[ 6.07848160e-01 -7.92487770e-01 -4.98372283e-02 2.14097583e+02] [ 7.89551930e-01 6.09884202e-01 -6.81836453e-02 1.06757825e+02] [ 8.44296433e-02 2.09622347e-03 9.96427238e-01 2.07634415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:106.81, Z:20.77 [[ 6.02839674e-01 -7.96305864e-01 -4.98126320e-02 2.14126362e+02] [ 7.93381441e-01 6.04892081e-01 -6.82016098e-02 1.06806964e+02] [ 8.44406085e-02 1.59421852e-03 9.96427239e-01 2.07663499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:106.86, Z:20.77 [[ 6.00905594e-01 -7.97767774e-01 -4.97900147e-02 2.14155124e+02] [ 7.94846978e-01 6.02963158e-01 -6.82181174e-02 1.06858978e+02] [ 8.44437602e-02 1.41720567e-03 9.96427239e-01 2.07653852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:106.91, Z:20.77 [[ 6.01223647e-01 -7.97529576e-01 -4.97664756e-02 2.14186770e+02] [ 7.94606544e-01 6.03278034e-01 -6.82352854e-02 1.06907398e+02] [ 8.44426798e-02 1.47989999e-03 9.96427240e-01 2.07716869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577105681 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:214.21, Y:106.96, Z:20.78 [[ 5.99450777e-01 -7.98864578e-01 -4.97408479e-02 2.14214870e+02] [ 7.95944573e-01 6.01509463e-01 -6.82539619e-02 1.06958728e+02] [ 8.44452632e-02 1.32393258e-03 9.96427240e-01 2.07845758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:107.01, Z:20.79 [[ 5.95626197e-01 -8.01721578e-01 -4.97186607e-02 2.14245308e+02] [ 7.98810101e-01 5.97696925e-01 -6.82701201e-02 1.07008121e+02] [ 8.44503190e-02 9.47703668e-04 9.96427240e-01 2.07910477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:107.06, Z:20.79 [[ 5.89295718e-01 -8.06387717e-01 -4.96931279e-02 2.14274436e+02] [ 8.03491072e-01 5.91387141e-01 -6.82887002e-02 1.07058388e+02] [ 8.44550459e-02 3.14253959e-04 9.96427241e-01 2.07905756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099998 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:107.11, Z:20.79 [[ 5.84314741e-01 -8.10005779e-01 -4.96681166e-02 2.14303550e+02] [ 8.07120537e-01 5.86421868e-01 -6.83068867e-02 1.07108218e+02] [ 8.44554427e-02 -1.75436132e-04 9.96427241e-01 2.07944044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:214.34, Y:107.15, Z:20.80 [[ 5.84271637e-01 -8.10038261e-01 -4.96454487e-02 2.14337472e+02] [ 8.07151737e-01 5.86377006e-01 -6.83233578e-02 1.07153657e+02] [ 8.44554835e-02 -1.52010031e-04 9.96427242e-01 2.08008249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877105681 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:107.21, Z:20.82 [[ 5.87329757e-01 -8.07825064e-01 -4.96227945e-02 2.14358842e+02] [ 8.04929217e-01 5.89422283e-01 -6.83398076e-02 1.07208458e+02] [ 8.44553902e-02 1.95165518e-04 9.96427242e-01 2.08166066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:214.38, Y:107.26, Z:20.82 [[ 5.98201011e-01 -7.99809712e-01 -4.95981295e-02 2.14382925e+02] [ 7.96884352e-01 6.00252075e-01 -6.83577037e-02 1.07262739e+02] [ 8.44445355e-02 1.36767421e-03 9.96427243e-01 2.08162178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997105681 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:107.32, Z:20.82 [[ 6.10583842e-01 -7.90398529e-01 -4.95735615e-02 2.14407172e+02] [ 7.87440145e-01 6.12586979e-01 -6.83755160e-02 1.07316796e+02] [ 8.44120255e-02 2.71277281e-03 9.96427243e-01 2.08163889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:107.37, Z:20.82 [[ 6.14242556e-01 -7.87560083e-01 -4.95499633e-02 2.14438148e+02] [ 7.84591073e-01 6.16229908e-01 -6.83926128e-02 1.07366900e+02] [ 8.43974611e-02 3.13319447e-03 9.96427244e-01 2.08173813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:107.42, Z:20.82 [[ 6.17096409e-01 -7.85327373e-01 -4.95271566e-02 2.14468359e+02] [ 7.82349856e-01 6.19070993e-01 -6.84091245e-02 1.07416671e+02] [ 8.43843841e-02 3.46746118e-03 9.96427244e-01 2.08199496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:214.50, Y:107.46, Z:20.83 [[ 6.24105411e-01 -7.79770348e-01 -4.95039417e-02 2.14501157e+02] [ 7.76773947e-01 6.26051219e-01 -6.84259198e-02 1.07462750e+02] [ 8.43485063e-02 4.25161467e-03 9.96427244e-01 2.08268823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:107.51, Z:20.83 [[ 6.20264842e-01 -7.82830058e-01 -4.94835876e-02 2.14536477e+02] [ 7.79842096e-01 6.22223581e-01 -6.84406361e-02 1.07508927e+02] [ 8.43672423e-02 3.86193568e-03 9.96427245e-01 2.08308877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:214.58, Y:107.55, Z:20.83 [[ 6.09808778e-01 -7.91003689e-01 -4.94612847e-02 2.14575111e+02] [ 7.88040716e-01 6.11805118e-01 -6.84567504e-02 1.07552771e+02] [ 8.44102093e-02 2.76802109e-03 9.96427245e-01 2.08330863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:107.60, Z:20.84 [[ 5.98174503e-01 -7.99839366e-01 -4.94393841e-02 2.14612247e+02] [ 7.96904607e-01 6.00212091e-01 -6.84725635e-02 1.07597641e+02] [ 8.44411679e-02 1.56006867e-03 9.96427245e-01 2.08364798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:107.64, Z:20.84 [[ 5.90024935e-01 -8.05871242e-01 -4.94177744e-02 2.14645733e+02] [ 8.02956016e-01 5.92090372e-01 -6.84881560e-02 1.07644428e+02] [ 8.44524238e-02 7.29420631e-04 9.96427246e-01 2.08444928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:107.69, Z:20.85 [[ 5.94645453e-01 -8.02469180e-01 -4.93963644e-02 2.14674159e+02] [ 7.99540857e-01 5.96692279e-01 -6.85035943e-02 1.07694813e+02] [ 8.44464524e-02 1.24093932e-03 9.96427246e-01 2.08501377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:107.75, Z:20.85 [[ 6.01902736e-01 -7.97041771e-01 -4.93711588e-02 2.14700893e+02] [ 7.94093513e-01 6.03920741e-01 -6.85217554e-02 1.07746972e+02] [ 8.44309681e-02 2.03811515e-03 9.96427247e-01 2.08549223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:107.79, Z:20.86 [[ 6.10879868e-01 -7.90184076e-01 -4.93448292e-02 2.14736415e+02] [ 7.87211660e-01 6.12862116e-01 -6.85407111e-02 1.07793314e+02] [ 8.44013549e-02 3.02531558e-03 9.96427247e-01 2.08563513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:107.84, Z:20.86 [[ 6.16950722e-01 -7.85454668e-01 -4.93231411e-02 2.14769629e+02] [ 7.82465829e-01 6.18908118e-01 -6.85563147e-02 1.07840757e+02] [ 8.43743698e-02 3.70219539e-03 9.96427247e-01 2.08642653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:214.80, Y:107.89, Z:20.87 [[ 6.21724954e-01 -7.81681975e-01 -4.93089463e-02 2.14802628e+02] [ 7.78680464e-01 6.23662863e-01 -6.85665228e-02 1.07887620e+02] [ 8.43493736e-02 4.23360503e-03 9.96427248e-01 2.08671610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:107.93, Z:20.87 [[ 6.24142827e-01 -7.79753374e-01 -4.92991613e-02 2.14841413e+02] [ 7.76745327e-01 6.26070575e-01 -6.85735574e-02 1.07930742e+02] [ 8.43352170e-02 4.50680081e-03 9.96427248e-01 2.08749096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837105681 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:107.98, Z:20.88 [[ 6.24392815e-01 -7.79554928e-01 -4.92719573e-02 2.14878265e+02] [ 7.76544739e-01 6.26317216e-01 -6.85930988e-02 1.07975436e+02] [ 8.43319633e-02 4.56715884e-03 9.96427248e-01 2.08777271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897105681 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:214.92, Y:108.02, Z:20.88 [[ 6.21572063e-01 -7.81807494e-01 -4.92464483e-02 2.14919873e+02] [ 7.78802843e-01 6.23505098e-01 -6.86114081e-02 1.08016230e+02] [ 8.43463246e-02 4.29366059e-03 9.96427249e-01 2.08830799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957105681 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:108.06, Z:20.89 [[ 6.20247865e-01 -7.82859270e-01 -4.92336327e-02 2.14959313e+02] [ 7.79857172e-01 6.22184863e-01 -6.86206030e-02 1.08058990e+02] [ 8.43526962e-02 4.16658094e-03 9.96427249e-01 2.08882790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:108.10, Z:20.89 [[ 6.21112950e-01 -7.82174746e-01 -4.92074177e-02 2.15000087e+02] [ 7.79169036e-01 6.23044338e-01 -6.86393965e-02 1.08101299e+02] [ 8.43464055e-02 4.29192189e-03 9.96427249e-01 2.08887262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:108.14, Z:20.89 [[ 6.21940437e-01 -7.81518513e-01 -4.91823858e-02 2.15042154e+02] [ 7.78509359e-01 6.23866452e-01 -6.86573281e-02 1.08141837e+02] [ 8.43402135e-02 4.41182095e-03 9.96427250e-01 2.08916183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:108.18, Z:20.89 [[ 6.18753920e-01 -7.84045213e-01 -4.91598485e-02 2.15088666e+02] [ 7.81042655e-01 6.20690202e-01 -6.86734614e-02 1.08180361e+02] [ 8.43561350e-02 4.09603486e-03 9.96427250e-01 2.08939170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099998 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:108.22, Z:20.90 [[ 6.18162991e-01 -7.84512005e-01 -4.91470353e-02 2.15129497e+02] [ 7.81510185e-01 6.20100417e-01 -6.86826302e-02 1.08221747e+02] [ 8.43584449e-02 4.04815144e-03 9.96427250e-01 2.09010029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099998 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:215.17, Y:108.26, Z:20.91 [[ 6.19131409e-01 -7.83749467e-01 -4.91230288e-02 2.15171229e+02] [ 7.80743909e-01 6.21063029e-01 -6.86997958e-02 1.08263659e+02] [ 8.43519254e-02 4.18169584e-03 9.96427251e-01 2.09053295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:108.31, Z:20.91 [[ 6.25117156e-01 -7.78985161e-01 -4.90984792e-02 2.15210776e+02] [ 7.75963534e-01 6.27023541e-01 -6.87173365e-02 1.08305419e+02] [ 8.43156877e-02 4.85775650e-03 9.96427251e-01 2.09134009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:108.35, Z:20.92 [[ 6.26327057e-01 -7.78014208e-01 -4.90745373e-02 2.15252462e+02] [ 7.74988301e-01 6.28226640e-01 -6.87344304e-02 1.08347301e+02] [ 8.43062951e-02 5.01804125e-03 9.96427252e-01 2.09203500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:108.39, Z:20.93 [[ 6.24094191e-01 -7.79807916e-01 -4.90515545e-02 2.15293026e+02] [ 7.76786195e-01 6.26000425e-01 -6.87508280e-02 1.08390599e+02] [ 8.43187338e-02 4.80442205e-03 9.96427252e-01 2.09276542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:215.33, Y:108.43, Z:20.93 [[ 6.18342301e-01 -7.84378083e-01 -4.90287830e-02 2.15334575e+02] [ 7.81369189e-01 6.20268718e-01 -6.87670634e-02 1.08433153e+02] [ 8.43503977e-02 4.21200377e-03 9.96427252e-01 2.09275772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:108.48, Z:20.94 [[ 6.16580614e-01 -7.85765223e-01 -4.90036796e-02 2.15372899e+02] [ 7.82759252e-01 6.18511587e-01 -6.87849475e-02 1.08476215e+02] [ 8.43581633e-02 4.05338154e-03 9.96427253e-01 2.09356333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:108.52, Z:20.94 [[ 6.23186775e-01 -7.80537099e-01 -4.89906175e-02 2.15411874e+02] [ 7.77514225e-01 6.25091179e-01 -6.87942495e-02 1.08520635e+02] [ 8.43200668e-02 4.78076458e-03 9.96427253e-01 2.09360516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:108.57, Z:20.94 [[ 6.26277071e-01 -7.78061240e-01 -4.89666898e-02 2.15446243e+02] [ 7.75029526e-01 6.28167368e-01 -6.88112767e-02 1.08565814e+02] [ 8.42986640e-02 5.14429441e-03 9.96427253e-01 2.09392766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:108.61, Z:20.94 [[ 6.21875481e-01 -7.81584639e-01 -4.89524025e-02 2.15483263e+02] [ 7.78562852e-01 6.23781608e-01 -6.88214392e-02 1.08610545e+02] [ 8.43253881e-02 4.68584346e-03 9.96427254e-01 2.09424750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:108.65, Z:20.94 [[ 6.11872532e-01 -7.89441574e-01 -4.89285768e-02 2.15527827e+02] [ 7.86442962e-01 6.13814912e-01 -6.88383740e-02 1.08651641e+02] [ 8.43769644e-02 3.64077530e-03 9.96427254e-01 2.09424958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:108.69, Z:20.96 [[ 5.94767157e-01 -8.02408965e-01 -4.89068774e-02 2.15565201e+02] [ 7.99451523e-01 5.96771664e-01 -6.88537871e-02 1.08694665e+02] [ 8.44351346e-02 1.85329351e-03 9.96427254e-01 2.09635245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:108.74, Z:20.97 [[ 5.81004072e-01 -8.12431388e-01 -4.88826039e-02 2.15599150e+02] [ 8.09507097e-01 5.83056638e-01 -6.88710158e-02 1.08741665e+02] [ 8.44543016e-02 4.43525861e-04 9.96427255e-01 2.09682250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099998 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:108.79, Z:20.97 [[ 5.76269870e-01 -8.15797768e-01 -4.88573250e-02 2.15632466e+02] [ 8.12883948e-01 5.78337272e-01 -6.88889441e-02 1.08788219e+02] [ 8.44554589e-02 -1.67123683e-05 9.96427255e-01 2.09743785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:108.84, Z:20.98 [[ 5.74668575e-01 -8.16928188e-01 -4.88299582e-02 2.15660216e+02] [ 8.14016786e-01 5.76739381e-01 -6.89083369e-02 1.08839322e+02] [ 8.44553226e-02 -1.48949825e-04 9.96427256e-01 2.09817329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:215.68, Y:108.89, Z:20.98 [[ 5.80386144e-01 -8.12877634e-01 -4.88044588e-02 2.15683153e+02] [ 8.09950261e-01 5.82434311e-01 -6.89263922e-02 1.08894524e+02] [ 8.44541139e-02 4.74738887e-04 9.96427256e-01 2.09835668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:108.95, Z:20.99 [[ 5.87511943e-01 -8.07743396e-01 -4.87885619e-02 2.15708100e+02] [ 8.04797195e-01 5.89532931e-01 -6.89376427e-02 1.08947147e+02] [ 8.44463896e-02 1.23679061e-03 9.96427257e-01 2.09897794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:215.74, Y:109.00, Z:20.99 [[ 5.96600727e-01 -8.01055460e-01 -4.87618951e-02 2.15736457e+02] [ 7.98085080e-01 5.98586006e-01 -6.89564999e-02 1.08998756e+02] [ 8.44261688e-02 2.22335705e-03 9.96427257e-01 2.09901616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:109.05, Z:20.99 [[ 6.05659601e-01 -7.94229929e-01 -4.87367143e-02 2.15762638e+02] [ 7.91235773e-01 6.07608836e-01 -6.89742926e-02 1.09051365e+02] [ 8.43943058e-02 3.21271066e-03 9.96427258e-01 2.09856318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:109.11, Z:20.99 [[ 6.11250630e-01 -7.89936054e-01 -4.87206191e-02 2.15788563e+02] [ 7.86927316e-01 6.13177281e-01 -6.89856597e-02 1.09105301e+02] [ 8.43686365e-02 3.82794186e-03 9.96427258e-01 2.09870500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:109.16, Z:20.99 [[ 6.16039482e-01 -7.86208608e-01 -4.86968350e-02 2.15815141e+02] [ 7.83186907e-01 6.17945735e-01 -6.90024448e-02 1.09156393e+02] [ 8.43423176e-02 4.36950678e-03 9.96427258e-01 2.09917832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:215.85, Y:109.20, Z:20.99 [[ 6.17671935e-01 -7.84927867e-01 -4.86787975e-02 2.15846723e+02] [ 7.81901220e-01 6.19570326e-01 -6.90151673e-02 1.09204024e+02] [ 8.43318665e-02 4.56672075e-03 9.96427258e-01 2.09949030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:109.25, Z:21.00 [[ 6.12744945e-01 -7.88781875e-01 -4.86496320e-02 2.15882227e+02] [ 7.85765559e-01 6.14659707e-01 -6.90357204e-02 1.09248222e+02] [ 8.43570935e-02 4.07408342e-03 9.96427259e-01 2.09988778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577105681 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:109.29, Z:21.00 [[ 5.97885480e-01 -8.00105578e-01 -4.86211526e-02 2.15917975e+02] [ 7.97123980e-01 5.99853866e-01 -6.90557723e-02 1.09294900e+02] [ 8.44174951e-02 2.53035688e-03 9.96427260e-01 2.10000776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:109.34, Z:21.01 [[ 5.88467836e-01 -8.07058168e-01 -4.86078079e-02 2.15955513e+02] [ 8.04099070e-01 5.90469888e-01 -6.90651644e-02 1.09338925e+02] [ 8.44410519e-02 1.55713471e-03 9.96427260e-01 2.10116540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099998 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:109.38, Z:21.02 [[ 5.74636677e-01 -8.16965305e-01 -4.85837341e-02 2.15992518e+02] [ 8.14039309e-01 5.76686803e-01 -6.90820949e-02 1.09383768e+02] [ 8.44552730e-02 1.48036126e-04 9.96427260e-01 2.10213200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:109.43, Z:21.03 [[ 5.61770201e-01 -8.25866908e-01 -4.85601800e-02 2.16019505e+02] [ 8.22971956e-01 5.63863934e-01 -6.90986479e-02 1.09434033e+02] [ 8.44476209e-02 -1.14610499e-03 9.96427261e-01 2.10274186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:109.49, Z:21.04 [[ 5.52771666e-01 -8.31917741e-01 -4.85423307e-02 2.16045935e+02] [ 8.29044593e-01 5.54895222e-01 -6.91111849e-02 1.09486171e+02] [ 8.44307282e-02 -2.04105198e-03 9.96427261e-01 2.10365714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:109.54, Z:21.04 [[ 5.43711055e-01 -8.37868802e-01 -4.85196892e-02 2.16069132e+02] [ 8.35017460e-01 5.45863800e-01 -6.91270769e-02 1.09540600e+02] [ 8.44045630e-02 -2.92963172e-03 9.96427261e-01 2.10442279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937105681 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:109.60, Z:21.04 [[ 5.39873374e-01 -8.40348097e-01 -4.84955282e-02 2.16092307e+02] [ 8.37505121e-01 5.42037155e-01 -6.91440227e-02 1.09595597e+02] [ 8.43914260e-02 -3.28623633e-03 9.96427262e-01 2.10431180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997105681 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:109.66, Z:21.04 [[ 5.37802379e-01 -8.41676511e-01 -4.84690833e-02 2.16105221e+02] [ 8.38837216e-01 5.39970987e-01 -6.91625553e-02 1.09656817e+02] [ 8.43843970e-02 -3.46188411e-03 9.96427262e-01 2.10396026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:109.72, Z:21.04 [[ 5.35573720e-01 -8.43097442e-01 -4.84509391e-02 2.16121878e+02] [ 8.40262756e-01 5.37748347e-01 -6.91752637e-02 1.09716391e+02] [ 8.43759003e-02 -3.66306631e-03 9.96427262e-01 2.10429184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:216.14, Y:109.78, Z:21.05 [[ 5.31620089e-01 -8.45597524e-01 -4.84242521e-02 2.16136320e+02] [ 8.42771367e-01 5.33805790e-01 -6.91939402e-02 1.09776073e+02] [ 8.43593707e-02 -4.02568452e-03 9.96427263e-01 2.10522539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:109.84, Z:21.07 [[ 5.26901390e-01 -8.48547329e-01 -4.83978916e-02 2.16149121e+02] [ 8.45731719e-01 5.29100659e-01 -6.92123733e-02 1.09835500e+02] [ 8.43373308e-02 -4.46353639e-03 9.96427264e-01 2.10677011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:216.16, Y:109.90, Z:21.07 [[ 5.23467675e-01 -8.50671471e-01 -4.83698418e-02 2.16161791e+02] [ 8.47862985e-01 5.25676034e-01 -6.92319708e-02 1.09897559e+02] [ 8.43205290e-02 -4.77029965e-03 9.96427264e-01 2.10729275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:109.96, Z:21.08 [[ 5.20544949e-01 -8.52464732e-01 -4.83408442e-02 2.16172348e+02] [ 8.49661989e-01 5.22760591e-01 -6.92522123e-02 1.09958446e+02] [ 8.43057569e-02 -5.02448855e-03 9.96427265e-01 2.10840982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:110.02, Z:21.09 [[ 5.19847760e-01 -8.52891522e-01 -4.83151927e-02 2.16189920e+02] [ 8.50088953e-01 5.22063621e-01 -6.92701040e-02 1.10016717e+02] [ 8.43034889e-02 -5.06230319e-03 9.96427265e-01 2.10859821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:216.20, Y:110.08, Z:21.09 [[ 5.23809947e-01 -8.50465224e-01 -4.82912282e-02 2.16202656e+02] [ 8.47650856e-01 5.26010803e-01 -6.92868067e-02 1.10078795e+02] [ 8.43277273e-02 -4.64098234e-03 9.96427266e-01 2.10880615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:110.14, Z:21.09 [[ 5.40254902e-01 -8.40116066e-01 -4.82663073e-02 2.16216370e+02] [ 8.37257878e-01 5.42398542e-01 -6.93041627e-02 1.10138602e+02] [ 8.44031152e-02 -2.96943239e-03 9.96427266e-01 2.10911122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:110.20, Z:21.10 [[ 5.59216387e-01 -8.27616789e-01 -4.82440012e-02 2.16229408e+02] [ 8.24709267e-01 5.61292620e-01 -6.93196870e-02 1.10199137e+02] [ 8.44491386e-02 -1.02256998e-03 9.96427266e-01 2.10982455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.25, Y:110.26, Z:21.11 [[ 5.72682396e-01 -8.18357993e-01 -4.82189750e-02 2.16248719e+02] [ 8.15415430e-01 5.74708660e-01 -6.93370910e-02 1.10256346e+02] [ 8.44544251e-02 3.89635167e-04 9.96427267e-01 2.11059358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:110.31, Z:21.11 [[ 5.77263241e-01 -8.15134703e-01 -4.81930142e-02 2.16275076e+02] [ 8.12179321e-01 5.79270762e-01 -6.93551305e-02 1.10308861e+02] [ 8.44505777e-02 8.94797863e-04 9.96427267e-01 2.11064189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.31, Y:110.36, Z:21.10 [[ 5.77092493e-01 -8.15257338e-01 -4.81635542e-02 2.16306916e+02] [ 8.12300676e-01 5.79098126e-01 -6.93755830e-02 1.10357836e+02] [ 8.44503771e-02 9.12840500e-04 9.96427268e-01 2.11022559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:110.41, Z:21.11 [[ 5.73523777e-01 -8.17772351e-01 -4.81545304e-02 2.16337775e+02] [ 8.14823960e-01 5.75541548e-01 -6.93818460e-02 1.10406480e+02] [ 8.44534883e-02 5.54673222e-04 9.96427268e-01 2.11133401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.37, Y:110.45, Z:21.12 [[ 5.73787988e-01 -8.17588314e-01 -4.81320413e-02 2.16370811e+02] [ 8.14637967e-01 5.75802898e-01 -6.93974438e-02 1.10453497e+02] [ 8.44531079e-02 6.09231300e-04 9.96427269e-01 2.11212509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:110.50, Z:21.13 [[ 5.70331621e-01 -8.20004696e-01 -4.81055210e-02 2.16406891e+02] [ 8.17061335e-01 5.72356723e-01 -6.94158225e-02 1.10499057e+02] [ 8.44548188e-02 2.84877395e-04 9.96427269e-01 2.11279465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.44, Y:110.54, Z:21.13 [[ 5.69028766e-01 -8.20910682e-01 -4.80823879e-02 2.16443907e+02] [ 8.17969192e-01 5.71056583e-01 -6.94318425e-02 1.10544382e+02] [ 8.44551053e-02 1.78803727e-04 9.96427269e-01 2.11305664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017105681 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:110.59, Z:21.13 [[ 5.65390492e-01 -8.23422071e-01 -4.80591793e-02 2.16483787e+02] [ 8.20488223e-01 5.67429348e-01 -6.94479034e-02 1.10589275e+02] [ 8.44551252e-02 -1.66806328e-04 9.96427270e-01 2.11288179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077105681 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:110.63, Z:21.13 [[ 5.67304546e-01 -8.22105808e-01 -4.80374121e-02 2.16522633e+02] [ 8.19165954e-01 5.69334732e-01 -6.94629565e-02 1.10633980e+02] [ 8.44552672e-02 5.60384555e-05 9.96427270e-01 2.11271298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:216.55, Y:110.68, Z:21.14 [[ 5.76921266e-01 -8.15387389e-01 -4.80131087e-02 2.16552742e+02] [ 8.12422500e-01 5.78914713e-01 -6.94797512e-02 1.10682447e+02] [ 8.44484080e-02 1.07741629e-03 9.96427271e-01 2.11377676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:110.73, Z:21.16 [[ 5.87343776e-01 -8.07913488e-01 -4.79904663e-02 2.16589632e+02] [ 8.04921976e-01 5.89297042e-01 -6.94953871e-02 1.10726492e+02] [ 8.44269004e-02 2.18910213e-03 9.96427271e-01 2.11572467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:216.63, Y:110.77, Z:21.16 [[ 5.89664300e-01 -8.06222826e-01 -4.79663255e-02 2.16627940e+02] [ 8.03224363e-01 5.91606878e-01 -6.95120453e-02 1.10771505e+02] [ 8.44194057e-02 2.46105030e-03 9.96427271e-01 2.11626126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:110.82, Z:21.16 [[ 5.98700993e-01 -7.99535920e-01 -4.79524060e-02 2.16665553e+02] [ 7.96515021e-01 6.00608493e-01 -6.95216462e-02 1.10817584e+02] [ 8.43856757e-02 3.42786696e-03 9.96427272e-01 2.11633666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:216.71, Y:110.86, Z:21.17 [[ 6.03937944e-01 -7.95589012e-01 -4.79278934e-02 2.16706429e+02] [ 7.92554326e-01 6.05823433e-01 -6.95385411e-02 1.10861254e+02] [ 8.43599401e-02 4.01150431e-03 9.96427272e-01 2.11656276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.75, Y:110.90, Z:21.17 [[ 5.99673815e-01 -7.98809484e-01 -4.79032883e-02 2.16749001e+02] [ 7.95783584e-01 6.01573371e-01 -6.95554868e-02 1.10902080e+02] [ 8.43789251e-02 3.58995368e-03 9.96427272e-01 2.11723629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.80, Y:110.94, Z:21.17 [[ 5.85387340e-01 -8.09339055e-01 -4.78743857e-02 2.16795498e+02] [ 8.06345763e-01 5.87337874e-01 -6.95753746e-02 1.10941907e+02] [ 8.44285078e-02 2.12523537e-03 9.96427273e-01 2.11739849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:110.98, Z:21.18 [[ 5.73544484e-01 -8.17775748e-01 -4.78492601e-02 2.16840533e+02] [ 8.14809729e-01 5.75536244e-01 -6.95926500e-02 1.10982525e+02] [ 8.44501648e-02 9.26437839e-04 9.96427274e-01 2.11752602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:216.88, Y:111.02, Z:21.18 [[ 5.64605508e-01 -8.23974150e-01 -4.78249016e-02 2.16883222e+02] [ 8.21028583e-01 5.66627390e-01 -6.96093855e-02 1.11024199e+02] [ 8.44552334e-02 3.62313171e-05 9.96427274e-01 2.11761891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:216.92, Y:111.07, Z:21.19 [[ 5.66746416e-01 -8.22504719e-01 -4.77963157e-02 2.16919583e+02] [ 8.19552255e-01 5.68758212e-01 -6.96290081e-02 1.11068210e+02] [ 8.44547348e-02 2.90412468e-04 9.96427275e-01 2.11862013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:111.12, Z:21.19 [[ 5.71230946e-01 -8.19398009e-01 -4.77714346e-02 2.16953113e+02] [ 8.16433177e-01 5.73224469e-01 -6.96460746e-02 1.11115149e+02] [ 8.44516101e-02 7.81808898e-04 9.96427275e-01 2.11939493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:216.98, Y:111.16, Z:21.20 [[ 5.75204463e-01 -8.16615104e-01 -4.77451237e-02 2.16982847e+02] [ 8.13639133e-01 5.77181318e-01 -6.96641071e-02 1.11163447e+02] [ 8.44463555e-02 1.22380429e-03 9.96427276e-01 2.11982453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:111.21, Z:21.21 [[ 5.77770235e-01 -8.14803201e-01 -4.77210631e-02 2.17018522e+02] [ 8.11819671e-01 5.79735662e-01 -6.96805852e-02 1.11209519e+02] [ 8.44415659e-02 1.51847033e-03 9.96427276e-01 2.12109940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099998 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:111.26, Z:21.22 [[ 5.79922040e-01 -8.13273875e-01 -4.77077685e-02 2.17049526e+02] [ 8.10284415e-01 5.81878436e-01 -6.96896863e-02 1.11257883e+02] [ 8.44369230e-02 1.75772375e-03 9.96427276e-01 2.12243765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:217.08, Y:111.31, Z:21.23 [[ 5.87369794e-01 -8.07912928e-01 -4.76804681e-02 2.17081981e+02] [ 8.04904112e-01 5.89296288e-01 -6.97083599e-02 1.11306703e+02] [ 8.44162079e-02 2.56638015e-03 9.96427277e-01 2.12266423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:217.12, Y:111.35, Z:21.22 [[ 5.91315898e-01 -8.05030723e-01 -4.76554798e-02 2.17120784e+02] [ 8.02011150e-01 5.93225487e-01 -6.97254387e-02 1.11350496e+02] [ 8.44015655e-02 3.00953419e-03 9.96427277e-01 2.12205670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:217.15, Y:111.40, Z:21.23 [[ 5.94275751e-01 -8.02849146e-01 -4.76401145e-02 2.17153075e+02] [ 7.99821729e-01 5.96172878e-01 -6.97359355e-02 1.11399047e+02] [ 8.43891805e-02 3.33877670e-03 9.96427277e-01 2.12266343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:111.45, Z:21.23 [[ 5.96113120e-01 -8.01487263e-01 -4.76163320e-02 2.17188935e+02] [ 7.98454223e-01 5.98001245e-01 -6.97521707e-02 1.11446321e+02] [ 8.43801022e-02 3.56072279e-03 9.96427278e-01 2.12278551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:111.49, Z:21.23 [[ 5.97940473e-01 -8.00126402e-01 -4.75912982e-02 2.17226954e+02] [ 7.97087715e-01 5.99819495e-01 -6.97692469e-02 1.11491000e+02] [ 8.43704050e-02 3.78341734e-03 9.96427278e-01 2.12302612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.26, Y:111.53, Z:21.25 [[ 5.89803326e-01 -8.06144794e-01 -4.75668779e-02 2.17264079e+02] [ 8.03123968e-01 5.91710928e-01 -6.97858921e-02 1.11534428e+02] [ 8.44033751e-02 2.95785157e-03 9.96427279e-01 2.12496122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33710568099997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:111.58, Z:21.25 [[ 5.83799819e-01 -8.10504582e-01 -4.75404495e-02 2.17306236e+02] [ 8.07496549e-01 5.85727531e-01 -6.98038914e-02 1.11577028e+02] [ 8.44221239e-02 2.36275034e-03 9.96427279e-01 2.12533417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.35, Y:111.62, Z:21.25 [[ 5.76913697e-01 -8.15421889e-01 -4.75155590e-02 2.17347545e+02] [ 8.12428904e-01 5.78864689e-01 -6.98208304e-02 1.11618841e+02] [ 8.44385127e-02 1.67757990e-03 9.96427280e-01 2.12542177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.38, Y:111.66, Z:21.27 [[ 5.69077525e-01 -8.20910388e-01 -4.75069007e-02 2.17384660e+02] [ 8.17935735e-01 5.71056357e-01 -6.98267211e-02 1.11663007e+02] [ 8.44505983e-02 8.79225912e-04 9.96427280e-01 2.12695899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.42, Y:111.71, Z:21.28 [[ 5.73491021e-01 -8.17834722e-01 -4.74806929e-02 2.17420131e+02] [ 8.14847985e-01 5.75451564e-01 -6.98445373e-02 1.11707977e+02] [ 8.44441267e-02 1.36566804e-03 9.96427280e-01 2.12765239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.45, Y:111.75, Z:21.28 [[ 5.78633644e-01 -8.14205734e-01 -4.74565866e-02 2.17454156e+02] [ 8.11205365e-01 5.80573259e-01 -6.98609128e-02 1.11754374e+02] [ 8.44331810e-02 1.92683696e-03 9.96427280e-01 2.12823302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:111.80, Z:21.28 [[ 5.76731648e-01 -8.15555539e-01 -4.74317358e-02 2.17489628e+02] [ 8.12558323e-01 5.78676133e-01 -6.98777811e-02 1.11800496e+02] [ 8.44368249e-02 1.75967610e-03 9.96427281e-01 2.12837079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:111.85, Z:21.28 [[ 5.78038598e-01 -8.14631199e-01 -4.74066219e-02 2.17526246e+02] [ 8.11629480e-01 5.79976122e-01 -6.98948148e-02 1.11847023e+02] [ 8.44332056e-02 1.92528891e-03 9.96427281e-01 2.12840016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:111.89, Z:21.29 [[ 5.74027037e-01 -8.17464238e-01 -4.73833321e-02 2.17558158e+02] [ 8.14470782e-01 5.75977303e-01 -6.99106000e-02 1.11893745e+02] [ 8.44411392e-02 1.53823497e-03 9.96427282e-01 2.12905021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:217.60, Y:111.94, Z:21.30 [[ 5.72175838e-01 -8.18762150e-01 -4.73640447e-02 2.17597107e+02] [ 8.15772037e-01 5.74131226e-01 -6.99236647e-02 1.11937198e+02] [ 8.44440270e-02 1.37036817e-03 9.96427282e-01 2.12974194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877105681 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:111.98, Z:21.31 [[ 5.59386926e-01 -8.27553704e-01 -4.73406123e-02 2.17630323e+02] [ 8.24592993e-01 5.61386550e-01 -6.99395256e-02 1.11984442e+02] [ 8.44550965e-02 8.65190808e-05 9.96427282e-01 2.13064318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:112.03, Z:21.31 [[ 5.52408297e-01 -8.32229718e-01 -4.73156428e-02 2.17665958e+02] [ 8.29284484e-01 5.54430649e-01 -6.99564140e-02 1.12029827e+02] [ 8.44530492e-02 -5.93624924e-04 9.96427283e-01 2.13128354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997105681 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:112.08, Z:21.31 [[ 5.49447407e-01 -8.34189038e-01 -4.72884324e-02 2.17698571e+02] [ 8.31249433e-01 5.51477930e-01 -6.99748026e-02 1.12076738e+02] [ 8.44507401e-02 -8.61008749e-04 9.96427283e-01 2.13147873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:112.13, Z:21.32 [[ 5.55270445e-01 -8.30325415e-01 -4.72698350e-02 2.17727963e+02] [ 8.27370610e-01 5.57278784e-01 -6.99873634e-02 1.12125726e+02] [ 8.44547628e-02 -2.47757770e-04 9.96427284e-01 2.13232387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:217.75, Y:112.18, Z:21.32 [[ 5.67781985e-01 -8.21822234e-01 -4.72422881e-02 2.17754733e+02] [ 8.18835810e-01 5.69742997e-01 -7.00059531e-02 1.12176922e+02] [ 8.44484115e-02 1.06444178e-03 9.96427284e-01 2.13242126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:112.23, Z:21.32 [[ 5.81350135e-01 -8.12282264e-01 -4.72180454e-02 2.17784766e+02] [ 8.09262369e-01 5.83259201e-01 -7.00223007e-02 1.12227331e+02] [ 8.44182323e-02 2.49568670e-03 9.96427285e-01 2.13249044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:112.28, Z:21.32 [[ 5.87513075e-01 -8.07837482e-01 -4.71909822e-02 2.17818011e+02] [ 8.04801698e-01 5.89396769e-01 -7.00405350e-02 1.12275580e+02] [ 8.43955819e-02 3.17034752e-03 9.96427285e-01 2.13245105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:112.32, Z:21.33 [[ 5.96163526e-01 -8.01476437e-01 -4.71653582e-02 2.17856363e+02] [ 7.98419228e-01 5.98012244e-01 -7.00577860e-02 1.12319715e+02] [ 8.43551264e-02 4.10816778e-03 9.96427286e-01 2.13345435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:112.36, Z:21.33 [[ 5.99443198e-01 -7.99027948e-01 -4.71401268e-02 2.17895945e+02] [ 7.95961869e-01 6.01277167e-01 -7.00747595e-02 1.12364434e+02] [ 8.43359732e-02 4.48409446e-03 9.96427286e-01 2.13304613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:112.41, Z:21.34 [[ 6.00022058e-01 -7.98594660e-01 -4.71179238e-02 2.17938590e+02] [ 7.95526096e-01 6.01851865e-01 -7.00896856e-02 1.12406041e+02] [ 8.43312589e-02 4.57181941e-03 9.96427286e-01 2.13419825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:112.45, Z:21.35 [[ 5.91016225e-01 -8.05283796e-01 -4.70938421e-02 2.17982667e+02] [ 8.02234696e-01 5.92878285e-01 -7.01058625e-02 1.12446439e+02] [ 8.43760315e-02 3.65338807e-03 9.96427287e-01 2.13484594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:112.49, Z:21.35 [[ 5.84850362e-01 -8.09774490e-01 -4.70672927e-02 2.18024763e+02] [ 8.06738272e-01 5.86733354e-01 -7.01236827e-02 1.12488777e+02] [ 8.44003199e-02 3.04087484e-03 9.96427287e-01 2.13480850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:112.53, Z:21.35 [[ 5.83998698e-01 -8.10390477e-01 -4.70403661e-02 2.18062884e+02] [ 8.07354796e-01 5.85882555e-01 -7.01417410e-02 1.12531081e+02] [ 8.44023288e-02 2.98442026e-03 9.96427288e-01 2.13547237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:112.57, Z:21.35 [[ 5.89872999e-01 -8.06125756e-01 -4.70224437e-02 2.18104133e+02] [ 8.03075516e-01 5.91733189e-01 -7.01537540e-02 1.12574181e+02] [ 8.43774885e-02 3.61923208e-03 9.96427288e-01 2.13499111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:112.62, Z:21.36 [[ 5.97006723e-01 -8.00858506e-01 -4.69960189e-02 2.18140172e+02] [ 7.97790495e-01 5.98837452e-01 -7.01714515e-02 1.12618944e+02] [ 8.43403801e-02 4.39985114e-03 9.96427289e-01 2.13585807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77710568099997 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:112.66, Z:21.36 [[ 5.99195030e-01 -7.99224098e-01 -4.69697460e-02 2.18177196e+02] [ 7.96149730e-01 6.01015064e-01 -7.01890331e-02 1.12663343e+02] [ 8.43262916e-02 4.66196925e-03 9.96427289e-01 2.13597579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83710568099997 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:218.21, Y:112.71, Z:21.36 [[ 5.97135437e-01 -8.00765460e-01 -4.69462240e-02 2.18210446e+02] [ 7.97694566e-01 5.98961326e-01 -7.02047624e-02 1.12710681e+02] [ 8.43365215e-02 4.47300369e-03 9.96427290e-01 2.13602936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89710568099997 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:218.25, Y:112.75, Z:21.38 [[ 5.87748592e-01 -8.07682003e-01 -4.69188063e-02 2.18251051e+02] [ 8.04631180e-01 5.89607821e-01 -7.02230813e-02 1.12750301e+02] [ 8.43816142e-02 3.52118266e-03 9.96427290e-01 2.13782728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957105681 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:218.29, Y:112.79, Z:21.39 [[ 5.77158321e-01 -8.15284200e-01 -4.69035765e-02 2.18288583e+02] [ 8.12257078e-01 5.79055895e-01 -7.02332522e-02 1.12793174e+02] [ 8.44198533e-02 2.43794392e-03 9.96427290e-01 2.13858543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:112.84, Z:21.39 [[ 5.72091788e-01 -8.18848685e-01 -4.68808795e-02 2.18325609e+02] [ 8.15832153e-01 5.74006151e-01 -7.02483993e-02 1.12838367e+02] [ 8.44327226e-02 1.94160349e-03 9.96427291e-01 2.13870762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077105681 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:218.36, Y:112.88, Z:21.39 [[ 5.71614883e-01 -8.19183070e-01 -4.68564231e-02 2.18360412e+02] [ 8.16166322e-01 5.73528906e-01 -7.02647082e-02 1.12884495e+02] [ 8.44331724e-02 1.92171841e-03 9.96427291e-01 2.13914148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137105681 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:112.93, Z:21.40 [[ 5.73738909e-01 -8.17698307e-01 -4.68310044e-02 2.18393278e+02] [ 8.14675227e-01 5.75642914e-01 -7.02816456e-02 1.12932782e+02] [ 8.44271185e-02 2.17125555e-03 9.96427292e-01 2.13950205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:218.42, Y:112.98, Z:21.40 [[ 5.78042908e-01 -8.14662895e-01 -4.68055875e-02 2.18423847e+02] [ 8.11628456e-01 5.79928755e-01 -7.02985685e-02 1.12982510e+02] [ 8.44135415e-02 2.64684234e-03 9.96427292e-01 2.13989651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:113.03, Z:21.41 [[ 5.81484921e-01 -8.12211119e-01 -4.67801801e-02 2.18456632e+02] [ 8.09167376e-01 5.83355716e-01 -7.03154719e-02 1.13029631e+02] [ 8.44004935e-02 3.03439103e-03 9.96427292e-01 2.14075301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317105681 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:218.49, Y:113.07, Z:21.42 [[ 5.85046515e-01 -8.09650846e-01 -4.67555683e-02 2.18491928e+02] [ 8.06597620e-01 5.86901791e-01 -7.03318334e-02 1.13073894e+02] [ 8.43851552e-02 3.43446393e-03 9.96427293e-01 2.14174748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:113.12, Z:21.42 [[ 5.88318640e-01 -8.07277866e-01 -4.67292747e-02 2.18526686e+02] [ 8.04215783e-01 5.90159259e-01 -7.03492989e-02 1.13120594e+02] [ 8.43691460e-02 3.80738361e-03 9.96427293e-01 2.14159127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:113.17, Z:21.42 [[ 5.94500260e-01 -8.02737864e-01 -4.67050604e-02 2.18559765e+02] [ 7.99660490e-01 5.96315198e-01 -7.03653712e-02 1.13168611e+02] [ 8.43358851e-02 4.48403997e-03 9.96427294e-01 2.14168251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:218.60, Y:113.21, Z:21.43 [[ 6.00033676e-01 -7.98611553e-01 -4.66816288e-02 2.18598468e+02] [ 7.95520519e-01 6.01825250e-01 -7.03809128e-02 1.13212182e+02] [ 8.43011930e-02 5.09472426e-03 9.96427294e-01 2.14254162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:113.26, Z:21.43 [[ 6.00461179e-01 -7.98291524e-01 -4.66585020e-02 2.18633834e+02] [ 7.95198358e-01 6.02249068e-01 -7.03962412e-02 1.13258747e+02] [ 8.42967620e-02 5.16744580e-03 9.96427295e-01 2.14300113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:113.30, Z:21.43 [[ 5.98306241e-01 -7.99909223e-01 -4.66355753e-02 2.18671836e+02] [ 7.96819724e-01 6.00100457e-01 -7.04114263e-02 1.13303599e+02] [ 8.43087794e-02 4.96744958e-03 9.96427295e-01 2.14304376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:113.35, Z:21.43 [[ 5.90386814e-01 -8.05773314e-01 -4.66130437e-02 2.18710572e+02] [ 8.02700499e-01 5.92209456e-01 -7.04263393e-02 1.13347355e+02] [ 8.43523501e-02 4.16246867e-03 9.96427295e-01 2.14295715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:113.39, Z:21.44 [[ 5.74260901e-01 -8.17345526e-01 -4.65908637e-02 2.18752125e+02] [ 8.14308347e-01 5.76142326e-01 -7.04410096e-02 1.13389174e+02] [ 8.44176126e-02 2.51218842e-03 9.96427296e-01 2.14403912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:113.43, Z:21.45 [[ 5.47772036e-01 -8.35330550e-01 -4.65689739e-02 2.18792185e+02] [ 8.32354000e-01 5.49747983e-01 -7.04554781e-02 1.13429728e+02] [ 8.44548127e-02 -1.68330946e-04 9.96427296e-01 2.14478719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:113.48, Z:21.46 [[ 5.40930712e-01 -8.39777980e-01 -4.65500643e-02 2.18826006e+02] [ 8.36816598e-01 5.42929319e-01 -7.04679695e-02 1.13476933e+02] [ 8.44508438e-02 -8.35577515e-04 9.96427296e-01 2.14558193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:113.53, Z:21.46 [[ 5.45009738e-01 -8.37137945e-01 -4.65236157e-02 2.18850922e+02] [ 8.34165390e-01 5.46991688e-01 -7.04854269e-02 1.13530696e+02] [ 8.44540565e-02 -3.93146007e-04 9.96427297e-01 2.14572255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:113.59, Z:21.46 [[ 5.58651718e-01 -8.28097981e-01 -4.64972297e-02 2.18873950e+02] [ 8.25091911e-01 5.60582456e-01 -7.05028287e-02 1.13585147e+02] [ 8.44487813e-02 1.02203821e-03 9.96427297e-01 2.14634132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:113.64, Z:21.47 [[ 5.78981236e-01 -8.14015549e-01 -4.64694892e-02 2.18896571e+02] [ 8.10961147e-01 5.80834565e-01 -7.05211082e-02 1.13639477e+02] [ 8.43963642e-02 3.14544822e-03 9.96427298e-01 2.14669106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:113.69, Z:21.47 [[ 5.83040418e-01 -8.11114683e-01 -4.64418140e-02 2.18922466e+02] [ 8.08049622e-01 5.84876064e-01 -7.05393291e-02 1.13690810e+02] [ 8.43781910e-02 3.59998961e-03 9.96427298e-01 2.14735226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:113.74, Z:21.47 [[ 5.81126435e-01 -8.12488499e-01 -4.64166547e-02 2.18953365e+02] [ 8.09426464e-01 5.82967123e-01 -7.05558808e-02 1.13741080e+02] [ 8.43852253e-02 3.43101876e-03 9.96427299e-01 2.14718879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:218.98, Y:113.79, Z:21.47 [[ 5.79824130e-01 -8.13419728e-01 -4.63931448e-02 2.18984358e+02] [ 8.10359419e-01 5.81667687e-01 -7.05713360e-02 1.13790959e+02] [ 8.43895102e-02 3.32384167e-03 9.96427299e-01 2.14719654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27710568099997 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:219.01, Y:113.84, Z:21.48 [[ 5.75639085e-01 -8.16388082e-01 -4.63696297e-02 2.19010819e+02] [ 8.13336046e-01 5.77496305e-01 -7.05867835e-02 1.13841983e+02] [ 8.44044986e-02 2.91842016e-03 9.96427300e-01 2.14808216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33710568099997 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:219.04, Y:113.89, Z:21.49 [[ 5.74471126e-01 -8.17211891e-01 -4.63427530e-02 2.19042783e+02] [ 8.14161100e-01 5.76330390e-01 -7.06044247e-02 1.13888415e+02] [ 8.44075123e-02 2.82973661e-03 9.96427300e-01 2.14929536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39710568099997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:113.94, Z:21.49 [[ 5.75070396e-01 -8.16791654e-01 -4.63188259e-02 2.19070390e+02] [ 8.13738246e-01 5.76925356e-01 -7.06201182e-02 1.13940605e+02] [ 8.44044283e-02 2.92013917e-03 9.96427301e-01 2.14853136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:219.10, Y:113.99, Z:21.49 [[ 5.73851674e-01 -8.17649697e-01 -4.62950232e-02 2.19102341e+02] [ 8.14597808e-01 5.75709133e-01 -7.06357187e-02 1.13988475e+02] [ 8.44077416e-02 2.82260096e-03 9.96427301e-01 2.14856620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:114.04, Z:21.50 [[ 5.73615797e-01 -8.17816247e-01 -4.62763927e-02 2.19133051e+02] [ 8.14763916e-01 5.75472529e-01 -7.06479222e-02 1.14037139e+02] [ 8.44078113e-02 2.82042920e-03 9.96427301e-01 2.14958897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:219.16, Y:114.09, Z:21.50 [[ 5.78439195e-01 -8.14413204e-01 -4.62518099e-02 2.19162562e+02] [ 8.11348678e-01 5.80275728e-01 -7.06640124e-02 1.14085711e+02] [ 8.43885075e-02 3.34848970e-03 9.96427302e-01 2.15027839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:114.13, Z:21.51 [[ 5.85044555e-01 -8.09682493e-01 -4.62290920e-02 2.19194573e+02] [ 8.06601968e-01 5.86854124e-01 -7.06788717e-02 1.14133532e+02] [ 8.43571783e-02 4.06181247e-03 9.96427302e-01 2.15091518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:114.18, Z:21.52 [[ 5.86332758e-01 -8.08751650e-01 -4.62024393e-02 2.19228244e+02] [ 8.05666892e-01 5.88135098e-01 -7.06962901e-02 1.14180576e+02] [ 8.43490175e-02 4.22777508e-03 9.96427303e-01 2.15157637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:219.27, Y:114.23, Z:21.53 [[ 5.85390164e-01 -8.09435603e-01 -4.61774951e-02 2.19265041e+02] [ 8.06351675e-01 5.87193926e-01 -7.07125795e-02 1.14225641e+02] [ 8.43524241e-02 4.15914798e-03 9.96427303e-01 2.15255729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.30, Y:114.27, Z:21.53 [[ 5.82677178e-01 -8.11392143e-01 -4.61529683e-02 2.19301321e+02] [ 8.08313017e-01 5.84489123e-01 -7.07285842e-02 1.14271159e+02] [ 8.43645254e-02 3.90588685e-03 9.96427303e-01 2.15290452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:114.32, Z:21.53 [[ 5.78021239e-01 -8.14717027e-01 -4.61260465e-02 2.19337190e+02] [ 8.11646939e-01 5.79848455e-01 -7.07461371e-02 1.14317687e+02] [ 8.43841993e-02 3.45470537e-03 9.96427304e-01 2.15278062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:219.37, Y:114.36, Z:21.53 [[ 5.69411714e-01 -8.20758837e-01 -4.61002395e-02 2.19374795e+02] [ 8.17706803e-01 5.71268929e-01 -7.07629497e-02 1.14361859e+02] [ 8.44149507e-02 2.59677306e-03 9.96427304e-01 2.15345809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:114.41, Z:21.55 [[ 5.57740222e-01 -8.28735815e-01 -4.60737838e-02 2.19408511e+02] [ 8.25708952e-01 5.59638181e-01 -7.07801709e-02 1.14408398e+02] [ 8.44427112e-02 1.43341251e-03 9.96427305e-01 2.15466605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:114.46, Z:21.55 [[ 5.52682791e-01 -8.32118519e-01 -4.60489098e-02 2.19440492e+02] [ 8.29101928e-01 5.54597034e-01 -7.07963500e-02 1.14456848e+02] [ 8.44495428e-02 9.48684410e-04 9.96427305e-01 2.15493708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:114.50, Z:21.56 [[ 5.45374840e-01 -8.36927777e-01 -4.60236856e-02 2.19472222e+02] [ 8.33926686e-01 5.47313291e-01 -7.08127442e-02 1.14503988e+02] [ 8.44545274e-02 2.39109414e-04 9.96427306e-01 2.15581031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:219.50, Y:114.56, Z:21.56 [[ 5.44854560e-01 -8.37267878e-01 -4.60001059e-02 2.19497891e+02] [ 8.34266703e-01 5.46792881e-01 -7.08280584e-02 1.14556543e+02] [ 8.44545885e-02 2.14633912e-04 9.96427306e-01 2.15610362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:114.61, Z:21.56 [[ 5.50264892e-01 -8.33723553e-01 -4.59737579e-02 2.19523177e+02] [ 8.30708466e-01 5.52181500e-01 -7.08451565e-02 1.14609405e+02] [ 8.44511341e-02 7.92812532e-04 9.96427307e-01 2.15642443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:114.66, Z:21.56 [[ 5.55684399e-01 -8.30122699e-01 -4.59472969e-02 2.19550412e+02] [ 8.27093777e-01 5.57579067e-01 -7.08623139e-02 1.14660898e+02] [ 8.44436662e-02 1.37435897e-03 9.96427307e-01 2.15595044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:114.71, Z:21.56 [[ 5.62656833e-01 -8.25413554e-01 -4.59320457e-02 2.19576552e+02] [ 8.22367979e-01 5.64524613e-01 -7.08721981e-02 1.14713610e+02] [ 8.44286433e-02 2.10368292e-03 9.96427307e-01 2.15625685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:114.76, Z:21.56 [[ 5.70884767e-01 -8.19745871e-01 -4.59052369e-02 2.19603288e+02] [ 8.16680380e-01 5.72719677e-01 -7.08895585e-02 1.14764756e+02] [ 8.44022553e-02 2.97986275e-03 9.96427308e-01 2.15647476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:114.81, Z:21.57 [[ 5.79238476e-01 -8.13865886e-01 -4.58814431e-02 2.19635922e+02] [ 8.10780583e-01 5.81039873e-01 -7.09049551e-02 1.14811502e+02] [ 8.43660720e-02 3.87109498e-03 9.96427308e-01 2.15741979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:219.67, Y:114.86, Z:21.58 [[ 5.81714440e-01 -8.12099262e-01 -4.58595567e-02 2.19668327e+02] [ 8.09007384e-01 5.83504527e-01 -7.09191079e-02 1.14858945e+02] [ 8.43526142e-02 4.15394912e-03 9.96427309e-01 2.15815436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:114.91, Z:21.58 [[ 5.79735214e-01 -8.13514773e-01 -4.58344330e-02 2.19702480e+02] [ 8.10425993e-01 5.81530642e-01 -7.09353415e-02 1.14905488e+02] [ 8.43610755e-02 3.97829958e-03 9.96427309e-01 2.15816089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:114.95, Z:21.59 [[ 5.77213194e-01 -8.15307447e-01 -4.58115148e-02 2.19737131e+02] [ 8.12223079e-01 5.79016189e-01 -7.09501395e-02 1.14951832e+02] [ 8.43717858e-02 3.74418702e-03 9.96427309e-01 2.15886141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71710568099996 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:115.00, Z:21.59 [[ 5.78022503e-01 -8.14735314e-01 -4.57859641e-02 2.19771459e+02] [ 8.11647865e-01 5.79820215e-01 -7.09666242e-02 1.14999211e+02] [ 8.43666425e-02 3.85822577e-03 9.96427310e-01 2.15901356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:115.05, Z:21.60 [[ 5.79924443e-01 -8.13383929e-01 -4.57627042e-02 2.19804626e+02] [ 8.10291117e-01 5.81712914e-01 -7.09816202e-02 1.15046363e+02] [ 8.43560651e-02 4.08286380e-03 9.96427310e-01 2.15988747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83710568099997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:115.09, Z:21.60 [[ 5.79242648e-01 -8.13871063e-01 -4.57367290e-02 2.19843660e+02] [ 8.10778444e-01 5.81031452e-01 -7.09983533e-02 1.15091647e+02] [ 8.43579833e-02 4.04292015e-03 9.96427311e-01 2.15990657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89710568099997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:115.14, Z:21.61 [[ 5.82237827e-01 -8.11732416e-01 -4.57121207e-02 2.19879020e+02] [ 8.08631998e-01 5.84013078e-01 -7.10141938e-02 1.15137242e+02] [ 8.43409995e-02 4.38286634e-03 9.96427311e-01 2.16104788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:219.91, Y:115.18, Z:21.62 [[ 5.84986459e-01 -8.09754609e-01 -4.56980915e-02 2.19914468e+02] [ 8.06647495e-01 5.86749964e-01 -7.10232206e-02 1.15181504e+02] [ 8.43247338e-02 4.68537129e-03 9.96427311e-01 2.16165231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:219.95, Y:115.23, Z:21.62 [[ 5.87041583e-01 -8.08266963e-01 -4.56803712e-02 2.19948715e+02] [ 8.05154506e-01 5.88795639e-01 -7.10346160e-02 1.15228600e+02] [ 8.43113367e-02 4.92051669e-03 9.96427311e-01 2.16185363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:115.28, Z:21.63 [[ 5.88137636e-01 -8.07471191e-01 -4.56551913e-02 2.19983730e+02] [ 8.04355120e-01 5.89885264e-01 -7.10507960e-02 1.15275383e+02] [ 8.43027954e-02 5.06466037e-03 9.96427312e-01 2.16275561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.02, Y:115.32, Z:21.64 [[ 5.87968473e-01 -8.07595811e-01 -4.56298179e-02 2.20022168e+02] [ 8.04478862e-01 5.89714532e-01 -7.10670874e-02 1.15319032e+02] [ 8.43020489e-02 5.07698293e-03 9.96427312e-01 2.16356818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:115.37, Z:21.63 [[ 5.89096124e-01 -8.06775067e-01 -4.56042571e-02 2.20054837e+02] [ 8.03654432e-01 5.90835587e-01 -7.10834862e-02 1.15367924e+02] [ 8.42930024e-02 5.22494279e-03 9.96427313e-01 2.16293834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:220.09, Y:115.41, Z:21.63 [[ 5.87754593e-01 -8.07754330e-01 -4.55793935e-02 2.20089458e+02] [ 8.04635373e-01 5.89497063e-01 -7.10994255e-02 1.15414669e+02] [ 8.42997874e-02 5.11422157e-03 9.96427313e-01 2.16316891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:115.46, Z:21.64 [[ 5.76154206e-01 -8.16070530e-01 -4.55545916e-02 2.20125991e+02] [ 8.12975544e-01 5.77938904e-01 -7.11153130e-02 1.15459608e+02] [ 8.43628819e-02 3.93861782e-03 9.96427314e-01 2.16389643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:220.16, Y:115.51, Z:21.64 [[ 5.69851412e-01 -8.20485621e-01 -4.55270831e-02 2.20159498e+02] [ 8.17403078e-01 5.71657516e-01 -7.11329192e-02 1.15507044e+02] [ 8.43894366e-02 3.32121659e-03 9.96427314e-01 2.16443512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:115.55, Z:21.66 [[ 5.67894678e-01 -8.21842730e-01 -4.54990327e-02 2.20190825e+02] [ 8.18763074e-01 5.69705700e-01 -7.11508568e-02 1.15554732e+02] [ 8.43958726e-02 3.15326503e-03 9.96427315e-01 2.16585628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:115.60, Z:21.66 [[ 5.70295686e-01 -8.20179907e-01 -4.54725261e-02 2.20221509e+02] [ 8.17093629e-01 5.72095399e-01 -7.11677931e-02 1.15603304e+02] [ 8.43850169e-02 3.43137401e-03 9.96427315e-01 2.16616371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.25, Y:115.65, Z:21.67 [[ 5.76034326e-01 -8.16161229e-01 -4.54456144e-02 2.20249953e+02] [ 8.13061064e-01 5.77810009e-01 -7.11849740e-02 1.15654124e+02] [ 8.43573467e-02 4.05492895e-03 9.96427316e-01 2.16675027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:115.70, Z:21.67 [[ 5.76747764e-01 -8.15658653e-01 -4.54200238e-02 2.20279721e+02] [ 8.12555666e-01 5.78518509e-01 -7.12012986e-02 1.15702659e+02] [ 8.43522798e-02 4.15889213e-03 9.96427316e-01 2.16706185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:220.31, Y:115.76, Z:21.67 [[ 5.77282623e-01 -8.15281197e-01 -4.54020165e-02 2.20306226e+02] [ 8.12176156e-01 5.79049766e-01 -7.12127792e-02 1.15755771e+02] [ 8.43484669e-02 4.23546476e-03 9.96427316e-01 2.16670037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:115.81, Z:21.67 [[ 5.77467432e-01 -8.15151647e-01 -4.53779390e-02 2.20336221e+02] [ 8.12045015e-01 5.79231774e-01 -7.12281186e-02 1.15805924e+02] [ 8.43460623e-02 4.28298960e-03 9.96427317e-01 2.16673510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:220.37, Y:115.85, Z:21.68 [[ 5.73683847e-01 -8.17820178e-01 -4.53541622e-02 2.20366553e+02] [ 8.14720572e-01 5.75460501e-01 -7.12432551e-02 1.15854826e+02] [ 8.43637005e-02 3.92013568e-03 9.96427317e-01 2.16752381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:220.39, Y:115.91, Z:21.68 [[ 5.65762457e-01 -8.23321328e-01 -4.53302700e-02 2.20393306e+02] [ 8.20237808e-01 5.67566887e-01 -7.12584540e-02 1.15906601e+02] [ 8.43965651e-02 3.13375674e-03 9.96427318e-01 2.16837305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:115.96, Z:21.69 [[ 5.62309559e-01 -8.25684713e-01 -4.53068825e-02 2.20424182e+02] [ 8.22607588e-01 5.64124871e-01 -7.12733209e-02 1.15955834e+02] [ 8.44080308e-02 2.80788436e-03 9.96427318e-01 2.16882691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:116.01, Z:21.70 [[ 5.52595207e-01 -8.32218748e-01 -4.52823680e-02 2.20453616e+02] [ 8.29161836e-01 5.54444355e-01 -7.12888924e-02 1.16005662e+02] [ 8.44345061e-02 1.84748883e-03 9.96427318e-01 2.16978087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:220.48, Y:116.06, Z:21.70 [[ 5.42000776e-01 -8.39158479e-01 -4.52571134e-02 2.20479795e+02] [ 8.36123921e-01 5.43886382e-01 -7.13049215e-02 1.16056412e+02] [ 8.44508572e-02 8.06767621e-04 9.96427319e-01 2.16983072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:220.50, Y:116.11, Z:21.70 [[ 5.34777988e-01 -8.43781231e-01 -4.52298328e-02 2.20502693e+02] [ 8.40761512e-01 5.36687265e-01 -7.13222219e-02 1.16110593e+02] [ 8.44546275e-02 1.14051747e-04 9.96427319e-01 2.17015653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:116.17, Z:21.71 [[ 5.29514199e-01 -8.47095832e-01 -4.52035879e-02 2.20519211e+02] [ 8.44086644e-01 5.31440031e-01 -7.13388519e-02 1.16166747e+02] [ 8.44538403e-02 -3.80809735e-04 9.96427320e-01 2.17073390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21710568099996 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:116.22, Z:21.71 [[ 5.31793256e-01 -8.45667852e-01 -4.51864625e-02 2.20537029e+02] [ 8.42652570e-01 5.33709534e-01 -7.13496977e-02 1.16223266e+02] [ 8.44545914e-02 -1.33200664e-04 9.96427320e-01 2.17138934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27710568099997 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:220.55, Y:116.28, Z:21.72 [[ 5.43701826e-01 -8.38062582e-01 -4.51600774e-02 2.20552621e+02] [ 8.35019116e-01 5.45573015e-01 -7.13663940e-02 1.16280352e+02] [ 8.44476240e-02 1.09251087e-03 9.96427321e-01 2.17177170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33710568099997 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:116.34, Z:21.72 [[ 5.55952684e-01 -8.29987779e-01 -4.51320360e-02 2.20571097e+02] [ 8.26915725e-01 5.57776559e-01 -7.13841230e-02 1.16337052e+02] [ 8.44215414e-02 2.36580448e-03 9.96427321e-01 2.17228388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39710568099997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:116.39, Z:21.72 [[ 5.64640561e-01 -8.24103458e-01 -4.51057391e-02 2.20591508e+02] [ 8.21011100e-01 5.66429792e-01 -7.14007354e-02 1.16392374e+02] [ 8.43908274e-02 3.28343880e-03 9.96427322e-01 2.17248715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:116.45, Z:21.72 [[ 5.64468064e-01 -8.24223040e-01 -4.50797674e-02 2.20617296e+02] [ 8.21129758e-01 5.66255698e-01 -7.14171293e-02 1.16446217e+02] [ 8.43903185e-02 3.29635021e-03 9.96427322e-01 2.17175996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:220.64, Y:116.50, Z:21.73 [[ 5.59587897e-01 -8.27545624e-01 -4.50513729e-02 2.20642619e+02] [ 8.24461527e-01 5.61391330e-01 -7.14350367e-02 1.16497082e+02] [ 8.44072022e-02 2.83105827e-03 9.96427323e-01 2.17259149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:116.55, Z:21.73 [[ 5.56921770e-01 -8.29343690e-01 -4.50242870e-02 2.20674608e+02] [ 8.26264042e-01 5.58732789e-01 -7.14521045e-02 1.16545282e+02] [ 8.44148974e-02 2.59128308e-03 9.96427323e-01 2.17342182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:220.70, Y:116.60, Z:21.74 [[ 5.52947573e-01 -8.32000064e-01 -4.49986124e-02 2.20704662e+02] [ 8.28927808e-01 5.54771102e-01 -7.14682700e-02 1.16595228e+02] [ 8.44255350e-02 2.21760531e-03 9.96427324e-01 2.17384378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:220.74, Y:116.64, Z:21.74 [[ 5.48653445e-01 -8.34839432e-01 -4.49724349e-02 2.20737126e+02] [ 8.31775269e-01 5.50490539e-01 -7.14847388e-02 1.16644071e+02] [ 8.44351787e-02 1.81338904e-03 9.96427324e-01 2.17398204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757105681 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:116.69, Z:21.74 [[ 5.47596710e-01 -8.35534274e-01 -4.49479834e-02 2.20772942e+02] [ 8.32471181e-01 5.49435589e-01 -7.15001102e-02 1.16691637e+02] [ 8.44368143e-02 1.73532426e-03 9.96427325e-01 2.17389490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817105681 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:116.74, Z:21.75 [[ 5.50277392e-01 -8.33772605e-01 -4.49225460e-02 2.20803345e+02] [ 8.30702325e-01 5.52104244e-01 -7.15160886e-02 1.16739913e+02] [ 8.44300838e-02 2.03642333e-03 9.96427325e-01 2.17478698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877105681 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:220.84, Y:116.79, Z:21.75 [[ 5.58309358e-01 -8.28416944e-01 -4.49001884e-02 2.20836545e+02] [ 8.25328033e-01 5.60104526e-01 -7.15301227e-02 1.16787190e+02] [ 8.44055644e-02 2.87855279e-03 9.96427325e-01 2.17515818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:116.83, Z:21.76 [[ 5.60470896e-01 -8.26957555e-01 -4.48729033e-02 2.20869440e+02] [ 8.23862606e-01 5.62255635e-01 -7.15472354e-02 1.16834845e+02] [ 8.43965696e-02 3.13103604e-03 9.96427326e-01 2.17585833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997105681 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:220.90, Y:116.88, Z:21.77 [[ 5.60429598e-01 -8.26987074e-01 -4.48446693e-02 2.20899966e+02] [ 8.23890811e-01 5.62212054e-01 -7.15649277e-02 1.16882805e+02] [ 8.43954838e-02 3.15999273e-03 9.96427326e-01 2.17683421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:220.93, Y:116.93, Z:21.77 [[ 5.58152660e-01 -8.28526217e-01 -4.48320814e-02 2.20931268e+02] [ 8.25434240e-01 5.59942540e-01 -7.15728125e-02 1.16931081e+02] [ 8.44033412e-02 2.94262065e-03 9.96427327e-01 2.17738855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:116.98, Z:21.78 [[ 5.57568986e-01 -8.28920567e-01 -4.48053533e-02 2.20959055e+02] [ 8.25828517e-01 5.59358739e-01 -7.15895408e-02 1.16982157e+02] [ 8.44043087e-02 2.91456914e-03 9.96427327e-01 2.17757448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:117.03, Z:21.78 [[ 5.51296097e-01 -8.33107121e-01 -4.47787693e-02 2.20990373e+02] [ 8.30027326e-01 5.53106857e-01 -7.16061651e-02 1.17031930e+02] [ 8.44230504e-02 2.30859717e-03 9.96427327e-01 2.17753543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:117.08, Z:21.78 [[ 5.41903585e-01 -8.39248180e-01 -4.47548664e-02 2.21019378e+02] [ 8.36187689e-01 5.43746785e-01 -7.16211016e-02 1.17081474e+02] [ 8.44431939e-02 1.38826335e-03 9.96427328e-01 2.17822272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:117.13, Z:21.79 [[ 5.33600692e-01 -8.44552975e-01 -4.47277746e-02 2.21048004e+02] [ 8.41509398e-01 5.35471687e-01 -7.16380167e-02 1.17132161e+02] [ 8.44525570e-02 5.87252630e-04 9.96427328e-01 2.17882260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:221.07, Y:117.18, Z:21.79 [[ 5.26639382e-01 -8.48912760e-01 -4.46999759e-02 2.21074275e+02] [ 8.45883201e-01 5.28532989e-01 -7.16553581e-02 1.17183562e+02] [ 8.44545597e-02 -7.44251344e-05 9.96427329e-01 2.17917174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:117.24, Z:21.79 [[ 5.23798378e-01 -8.50670119e-01 -4.46722217e-02 2.21099093e+02] [ 8.47645437e-01 5.25699766e-01 -7.16726568e-02 1.17235213e+02] [ 8.44539640e-02 -3.24183433e-04 9.96427329e-01 2.17942744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:221.12, Y:117.29, Z:21.81 [[ 5.18034205e-01 -8.54193815e-01 -4.46485051e-02 2.21121667e+02] [ 8.51180791e-01 5.19954011e-01 -7.16874281e-02 1.17289182e+02] [ 8.44501270e-02 -8.67410082e-04 9.96427330e-01 2.18072681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:117.35, Z:21.82 [[ 5.09770117e-01 -8.59152762e-01 -4.46201598e-02 2.21138855e+02] [ 8.56156861e-01 5.11716536e-01 -7.17050667e-02 1.17345284e+02] [ 8.44384797e-02 -1.64875567e-03 9.96427330e-01 2.18155421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:117.40, Z:21.83 [[ 5.05392566e-01 -8.61736732e-01 -4.45887862e-02 2.21159146e+02] [ 8.58749060e-01 5.07351592e-01 -7.17245706e-02 1.17400585e+02] [ 8.44298888e-02 -2.04151347e-03 9.96427331e-01 2.18251019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:221.18, Y:117.46, Z:21.83 [[ 5.00768736e-01 -8.64433432e-01 -4.45591215e-02 2.21175770e+02] [ 8.61454669e-01 5.02741281e-01 -7.17429953e-02 1.17458411e+02] [ 8.44187534e-02 -2.45901419e-03 9.96427332e-01 2.18289598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:117.52, Z:21.83 [[ 4.95237803e-01 -8.67615417e-01 -4.45309562e-02 2.21189498e+02] [ 8.64647754e-01 4.97227007e-01 -7.17604733e-02 1.17517692e+02] [ 8.44024870e-02 -2.96509205e-03 9.96427332e-01 2.18300710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:117.58, Z:21.84 [[ 4.96021697e-01 -8.67168670e-01 -4.45081351e-02 2.21203443e+02] [ 8.64197950e-01 4.98006332e-01 -7.17746249e-02 1.17576057e+02] [ 8.44060391e-02 -2.86206783e-03 9.96427333e-01 2.18411109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:117.63, Z:21.85 [[ 5.00420200e-01 -8.64639240e-01 -4.44815548e-02 2.21221258e+02] [ 8.61657022e-01 5.02387515e-01 -7.17910941e-02 1.17632985e+02] [ 8.44203748e-02 -2.40213039e-03 9.96427333e-01 2.18470301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.24, Y:117.69, Z:21.85 [[ 5.12056714e-01 -8.57800574e-01 -4.44533082e-02 2.21235278e+02] [ 8.54790536e-01 5.13981193e-01 -7.18085803e-02 1.17692574e+02] [ 8.44456057e-02 -1.22820146e-03 9.96427334e-01 2.18496064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:117.75, Z:21.85 [[ 5.26868637e-01 -8.48784922e-01 -4.44251601e-02 2.21253877e+02] [ 8.45740471e-01 5.28738199e-01 -7.18259902e-02 1.17748475e+02] [ 8.44540966e-02 2.70705808e-04 9.96427334e-01 2.18472782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:117.81, Z:21.84 [[ 5.41365075e-01 -8.39614356e-01 -4.44025667e-02 2.21273558e+02] [ 8.36537113e-01 5.43180154e-01 -7.18399547e-02 1.17805735e+02] [ 8.44364503e-02 1.74724760e-03 9.96427335e-01 2.18439691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.30, Y:117.86, Z:21.85 [[ 5.47945903e-01 -8.35335832e-01 -4.43771898e-02 2.21300550e+02] [ 8.32243159e-01 5.49734565e-01 -7.18556272e-02 1.17855324e+02] [ 8.44192553e-02 2.44038396e-03 9.96427335e-01 2.18488361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.33, Y:117.91, Z:21.86 [[ 5.49079243e-01 -8.34592561e-01 -4.43536156e-02 2.21328086e+02] [ 8.31496296e-01 5.50861678e-01 -7.18701757e-02 1.17906068e+02] [ 8.44150211e-02 2.58255454e-03 9.96427335e-01 2.18571245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.36, Y:117.96, Z:21.86 [[ 5.46503699e-01 -8.36282770e-01 -4.43264654e-02 2.21358345e+02] [ 8.33190665e-01 5.48293340e-01 -7.18869170e-02 1.17956149e+02] [ 8.44216958e-02 2.35406883e-03 9.96427336e-01 2.18595278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.39, Y:118.00, Z:21.87 [[ 5.35916739e-01 -8.43107688e-01 -4.43020930e-02 2.21393385e+02] [ 8.40037155e-01 5.37743145e-01 -7.19019340e-02 1.18000408e+02] [ 8.44442201e-02 1.31804584e-03 9.96427336e-01 2.18715381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:118.05, Z:21.88 [[ 5.24696686e-01 -8.50136829e-01 -4.42804760e-02 2.21427484e+02] [ 8.47089650e-01 5.26561794e-01 -7.19152443e-02 1.18046607e+02] [ 8.44542045e-02 2.24157398e-04 9.96427337e-01 2.18814092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:221.46, Y:118.09, Z:21.89 [[ 5.16057580e-01 -8.55409895e-01 -4.42547777e-02 2.21459607e+02] [ 8.52380416e-01 5.17951300e-01 -7.19310549e-02 1.18094641e+02] [ 8.44523558e-02 -6.01339790e-04 9.96427337e-01 2.18873874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:118.14, Z:21.90 [[ 5.16938745e-01 -8.54879066e-01 -4.42280111e-02 2.21492560e+02] [ 8.51846234e-01 5.18827090e-01 -7.19475091e-02 1.18141634e+02] [ 8.44531096e-02 -4.83009635e-04 9.96427338e-01 2.18962643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497105681 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:221.52, Y:118.19, Z:21.91 [[ 5.27203612e-01 -8.48588644e-01 -4.42002834e-02 2.21516801e+02] [ 8.45531852e-01 5.29052920e-01 -7.19645393e-02 1.18192559e+02] [ 8.44525798e-02 5.67217540e-04 9.96427338e-01 2.19062500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.54, Y:118.24, Z:21.92 [[ 5.42194112e-01 -8.39090579e-01 -4.41876267e-02 2.21544385e+02] [ 8.36000790e-01 5.43987744e-01 -7.19723100e-02 1.18243189e+02] [ 8.44288146e-02 2.08207187e-03 9.96427338e-01 2.19170716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:221.57, Y:118.30, Z:21.91 [[ 5.51996664e-01 -8.32676065e-01 -4.41616800e-02 2.21572137e+02] [ 8.29564192e-01 5.53751701e-01 -7.19882272e-02 1.18295253e+02] [ 8.43974792e-02 3.10231288e-03 9.96427339e-01 2.19107369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.60, Y:118.35, Z:21.90 [[ 5.55126371e-01 -8.30594152e-01 -4.41369167e-02 2.21602061e+02] [ 8.27474500e-01 5.56867543e-01 -7.20034068e-02 1.18345696e+02] [ 8.43840249e-02 3.44881681e-03 9.96427339e-01 2.19021488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.64, Y:118.39, Z:21.91 [[ 5.53586023e-01 -8.31622875e-01 -4.41124628e-02 2.21636425e+02] [ 8.28505272e-01 5.55330862e-01 -7.20183852e-02 1.18391946e+02] [ 8.43891485e-02 3.32096348e-03 9.96427339e-01 2.19094917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.67, Y:118.44, Z:21.91 [[ 5.50640356e-01 -8.33577506e-01 -4.40878574e-02 2.21671644e+02] [ 8.30464901e-01 5.52394091e-01 -7.20334449e-02 1.18438184e+02] [ 8.43993313e-02 3.05110364e-03 9.96427340e-01 2.19127434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:118.48, Z:21.93 [[ 5.48067339e-01 -8.35272686e-01 -4.40650790e-02 2.21704822e+02] [ 8.32164391e-01 5.49828702e-01 -7.20473765e-02 1.18484676e+02] [ 8.44074509e-02 2.81742426e-03 9.96427340e-01 2.19280106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:118.53, Z:21.93 [[ 5.41251817e-01 -8.39706415e-01 -4.40409731e-02 2.21743204e+02] [ 8.36611365e-01 5.43036350e-01 -7.20621089e-02 1.18529760e+02] [ 8.44268644e-02 2.15856874e-03 9.96427341e-01 2.19289280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:118.57, Z:21.94 [[ 5.29202141e-01 -8.47352738e-01 -4.40276168e-02 2.21778975e+02] [ 8.44282818e-01 5.31029566e-01 -7.20702683e-02 1.18574106e+02] [ 8.44489054e-02 9.67979873e-04 9.96427341e-01 2.19411444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.81, Y:118.62, Z:21.95 [[ 5.22782216e-01 -8.51329462e-01 -4.40102542e-02 2.21811177e+02] [ 8.48272552e-01 5.24631323e-01 -7.20808694e-02 1.18620668e+02] [ 8.44537256e-02 3.49905978e-04 9.96427341e-01 2.19464585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:221.84, Y:118.67, Z:21.96 [[ 5.29513680e-01 -8.47160420e-01 -4.39827876e-02 2.21837270e+02] [ 8.44087564e-01 5.31336162e-01 -7.20976253e-02 1.18672135e+02] [ 8.44479001e-02 1.05135485e-03 9.96427341e-01 2.19578412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:118.72, Z:21.97 [[ 5.39700310e-01 -8.40708822e-01 -4.39574008e-02 2.21864192e+02] [ 8.37612938e-01 5.41483394e-01 -7.21131001e-02 1.18722857e+02] [ 8.44283220e-02 2.10017479e-03 9.96427342e-01 2.19704937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.89, Y:118.77, Z:21.97 [[ 5.45169133e-01 -8.37174199e-01 -4.39315029e-02 2.21892990e+02] [ 8.34065496e-01 5.46929771e-01 -7.21288738e-02 1.18771559e+02] [ 8.44118790e-02 2.68068485e-03 9.96427342e-01 2.19745262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:118.82, Z:21.98 [[ 5.49867459e-01 -8.34097054e-01 -4.39076479e-02 2.21920388e+02] [ 8.30977352e-01 5.51608532e-01 -7.21433924e-02 1.18822948e+02] [ 8.43944243e-02 3.18304290e-03 9.96427343e-01 2.19752059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.95, Y:118.87, Z:21.98 [[ 5.50694967e-01 -8.33552303e-01 -4.38818007e-02 2.21952825e+02] [ 8.30429632e-01 5.52430710e-01 -7.21591108e-02 1.18869109e+02] [ 8.43900473e-02 3.29691154e-03 9.96427343e-01 2.19818961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:118.92, Z:21.99 [[ 5.44870165e-01 -8.37372625e-01 -4.38587502e-02 2.21987518e+02] [ 8.34261012e-01 5.46625653e-01 -7.21731183e-02 1.18915671e+02] [ 8.44101115e-02 2.73533350e-03 9.96427344e-01 2.19871147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:222.02, Y:118.96, Z:21.99 [[ 5.40042592e-01 -8.40495566e-01 -4.38315167e-02 2.22018944e+02] [ 8.37392772e-01 5.41813620e-01 -7.21896538e-02 1.18964337e+02] [ 8.44235967e-02 2.28129255e-03 9.96427344e-01 2.19870749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.05, Y:119.01, Z:21.99 [[ 5.34991352e-01 -8.43721166e-01 -4.38046539e-02 2.22052618e+02] [ 8.40627723e-01 5.36778662e-01 -7.22059505e-02 1.19011362e+02] [ 8.44350922e-02 1.80615267e-03 9.96427345e-01 2.19895253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:119.06, Z:21.99 [[ 5.24899377e-01 -8.50037747e-01 -4.37775361e-02 2.22085758e+02] [ 8.46964456e-01 5.26721119e-01 -7.22223879e-02 1.19058383e+02] [ 8.44503088e-02 8.31469360e-04 9.96427345e-01 2.19931020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.11, Y:119.11, Z:22.00 [[ 5.14751539e-01 -8.56222212e-01 -4.37535923e-02 2.22113732e+02] [ 8.53169578e-01 5.16607687e-01 -7.22368906e-02 1.19108069e+02] [ 8.44542725e-02 -1.45183336e-04 9.96427345e-01 2.19953703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:119.16, Z:22.00 [[ 5.02956873e-01 -8.63204741e-01 -4.37259667e-02 2.22144209e+02] [ 8.60176410e-01 5.04852413e-01 -7.22536090e-02 1.19156792e+02] [ 8.44448176e-02 -1.27159587e-03 9.96427346e-01 2.20043388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:119.21, Z:22.02 [[ 4.92857195e-01 -8.69012133e-01 -4.37001039e-02 2.22170455e+02] [ 8.66004733e-01 4.94785770e-01 -7.22692479e-02 1.19207999e+02] [ 8.44250428e-02 -2.22607801e-03 9.96427346e-01 2.20158312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:119.26, Z:22.03 [[ 4.80432555e-01 -8.75943631e-01 -4.36728207e-02 2.22194105e+02] [ 8.72962515e-01 4.82401514e-01 -7.22857316e-02 1.19260040e+02] [ 8.43860610e-02 -3.39631669e-03 9.96427347e-01 2.20305073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.21, Y:119.32, Z:22.04 [[ 4.80042679e-01 -8.76158737e-01 -4.36450945e-02 2.22210597e+02] [ 8.73176990e-01 4.82010681e-01 -7.23024684e-02 1.19316060e+02] [ 8.43858412e-02 -3.40162163e-03 9.96427347e-01 2.20360494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:119.37, Z:22.04 [[ 4.89280328e-01 -8.71035023e-01 -4.36205013e-02 2.22224840e+02] [ 8.68031320e-01 4.91214653e-01 -7.23173027e-02 1.19374552e+02] [ 8.44179328e-02 -2.48052776e-03 9.96427348e-01 2.20416930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.24, Y:119.44, Z:22.04 [[ 5.05183904e-01 -8.61909981e-01 -4.35936603e-02 2.22235770e+02] [ 8.58869893e-01 5.07060524e-01 -7.23334791e-02 1.19436677e+02] [ 8.44495719e-02 -8.99572962e-04 9.96427348e-01 2.20403636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:119.49, Z:22.05 [[ 5.12451035e-01 -8.57610399e-01 -4.35699596e-02 2.22257405e+02] [ 8.54553347e-01 5.14299892e-01 -7.23477525e-02 1.19491360e+02] [ 8.44542104e-02 -1.58174179e-04 9.96427349e-01 2.20456998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:119.55, Z:22.05 [[ 5.25159546e-01 -8.49889079e-01 -4.35431243e-02 2.22273447e+02] [ 8.46803513e-01 5.26960412e-01 -7.23639000e-02 1.19549065e+02] [ 8.44467910e-02 1.13012225e-03 9.96427349e-01 2.20517139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:119.60, Z:22.05 [[ 5.27477275e-01 -8.48453928e-01 -4.35161698e-02 2.22298548e+02] [ 8.45362127e-01 5.29267413e-01 -7.23801055e-02 1.19601420e+02] [ 8.44428755e-02 1.39193895e-03 9.96427350e-01 2.20536962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:222.33, Y:119.65, Z:22.05 [[ 5.25439345e-01 -8.49718894e-01 -4.34890352e-02 2.22325815e+02] [ 8.46630055e-01 5.27234588e-01 -7.23964055e-02 1.19653737e+02] [ 8.44455172e-02 1.22079564e-03 9.96427350e-01 2.20524730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:119.70, Z:22.06 [[ 5.24358577e-01 -8.50387620e-01 -4.34623884e-02 2.22353854e+02] [ 8.47299745e-01 5.26155478e-01 -7.24123991e-02 1.19704704e+02] [ 8.44465815e-02 1.14439194e-03 9.96427351e-01 2.20570552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:119.75, Z:22.05 [[ 5.35192517e-01 -8.43612689e-01 -4.34350065e-02 2.22382950e+02] [ 8.40500759e-01 5.36947427e-01 -7.24288199e-02 1.19754791e+02] [ 8.44241866e-02 2.25620650e-03 9.96427351e-01 2.20547740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.41, Y:119.80, Z:22.06 [[ 5.46622113e-01 -8.36253625e-01 -4.34066780e-02 2.22412366e+02] [ 8.33116769e-01 5.48332068e-01 -7.24457933e-02 1.19804602e+02] [ 8.43843308e-02 3.43764127e-03 9.96427352e-01 2.20558073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.45, Y:119.85, Z:22.06 [[ 5.54291751e-01 -8.31191336e-01 -4.33776210e-02 2.22449080e+02] [ 8.28037538e-01 5.55970253e-01 -7.24631874e-02 1.19849192e+02] [ 8.43474404e-02 4.24744857e-03 9.96427352e-01 2.20629471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.49, Y:119.89, Z:22.07 [[ 5.47913219e-01 -8.35410518e-01 -4.33632532e-02 2.22487547e+02] [ 8.32268987e-01 5.49614569e-01 -7.24717843e-02 1.19891962e+02] [ 8.43767665e-02 3.61835783e-03 9.96427352e-01 2.20722131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.53, Y:119.94, Z:22.08 [[ 5.42899857e-01 -8.38678406e-01 -4.33390945e-02 2.22526528e+02] [ 8.35545978e-01 5.44617908e-01 -7.24862287e-02 1.19936262e+02] [ 8.43958817e-02 3.14095706e-03 9.96427353e-01 2.20770854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:119.98, Z:22.08 [[ 5.40555706e-01 -8.40192575e-01 -4.33124221e-02 2.22565362e+02] [ 8.37063690e-01 5.42280200e-01 -7.25021627e-02 1.19980028e+02] [ 8.44032477e-02 2.93620189e-03 9.96427353e-01 2.20788081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.60, Y:120.03, Z:22.08 [[ 5.33592247e-01 -8.44633262e-01 -4.32893377e-02 2.22601716e+02] [ 8.41517627e-01 5.35340566e-01 -7.25159432e-02 1.20025554e+02] [ 8.44239162e-02 2.26520436e-03 9.96427354e-01 2.20834359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.64, Y:120.07, Z:22.09 [[ 5.25082823e-01 -8.49950790e-01 -4.32629523e-02 2.22637888e+02] [ 8.46851579e-01 5.26860093e-01 -7.25316814e-02 1.20070270e+02] [ 8.44418830e-02 1.44784046e-03 9.96427354e-01 2.20855597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.67, Y:120.12, Z:22.08 [[ 5.32570448e-01 -8.45280419e-01 -4.32403953e-02 2.22672896e+02] [ 8.42164544e-01 5.34318338e-01 -7.25451265e-02 1.20118131e+02] [ 8.44251110e-02 2.21986272e-03 9.96427355e-01 2.20847218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.71, Y:120.16, Z:22.09 [[ 5.35913377e-01 -8.43166212e-01 -4.32156219e-02 2.22705363e+02] [ 8.40042259e-01 5.37646786e-01 -7.25598812e-02 1.20164370e+02] [ 8.44147804e-02 2.58286237e-03 9.96427355e-01 2.20917247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.74, Y:120.21, Z:22.09 [[ 5.34753933e-01 -8.43903394e-01 -4.31890343e-02 2.22738090e+02] [ 8.40780557e-01 5.36489350e-01 -7.25757032e-02 1.20212831e+02] [ 8.44173393e-02 2.49764238e-03 9.96427355e-01 2.20920958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.77, Y:120.26, Z:22.09 [[ 5.38303952e-01 -8.41644644e-01 -4.31642142e-02 2.22773858e+02] [ 8.38513349e-01 5.40024062e-01 -7.25904620e-02 1.20260103e+02] [ 8.44050878e-02 2.88196275e-03 9.96427356e-01 2.20922684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:120.31, Z:22.10 [[ 5.37198278e-01 -8.42351891e-01 -4.31428158e-02 2.22802051e+02] [ 8.39221844e-01 5.38920658e-01 -7.26031775e-02 1.20309142e+02] [ 8.44079785e-02 2.79590846e-03 9.96427356e-01 2.21043173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.84, Y:120.36, Z:22.11 [[ 5.41056685e-01 -8.39880096e-01 -4.31171345e-02 2.22835440e+02] [ 8.36740977e-01 5.42762472e-01 -7.26184258e-02 1.20355746e+02] [ 8.43931330e-02 3.21281149e-03 9.96427357e-01 2.21051078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:120.40, Z:22.12 [[ 5.31877007e-01 -8.45724369e-01 -4.30945653e-02 2.22866985e+02] [ 8.42602936e-01 5.33614947e-01 -7.26318168e-02 1.20403971e+02] [ 8.44224016e-02 2.31958610e-03 9.96427357e-01 2.21174123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.90, Y:120.45, Z:22.12 [[ 5.24291620e-01 -8.50448809e-01 -4.30710976e-02 2.22898067e+02] [ 8.47341908e-01 5.26055405e-01 -7.26457307e-02 1.20453346e+02] [ 8.44392589e-02 1.59160188e-03 9.96427357e-01 2.21244119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:120.50, Z:22.13 [[ 5.25750984e-01 -8.49548668e-01 -4.30460681e-02 2.22926326e+02] [ 8.46437534e-01 5.27507293e-01 -7.26605589e-02 1.20503381e+02] [ 8.44357958e-02 1.76555263e-03 9.96427358e-01 2.21256116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.96, Y:120.55, Z:22.13 [[ 5.41243178e-01 -8.39764700e-01 -4.30240717e-02 2.22955203e+02] [ 8.36620854e-01 5.42940234e-01 -7.26735812e-02 1.20554194e+02] [ 8.43882077e-02 3.33924446e-03 9.96427358e-01 2.21305363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:120.60, Z:22.13 [[ 5.50944293e-01 -8.33433609e-01 -4.29977431e-02 2.22985362e+02] [ 8.30269096e-01 5.52602492e-01 -7.26891553e-02 1.20603953e+02] [ 8.43422451e-02 4.34797795e-03 9.96427359e-01 2.21332370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.01, Y:120.65, Z:22.14 [[ 5.53529273e-01 -8.31720433e-01 -4.29705106e-02 2.23014834e+02] [ 8.28549556e-01 5.55175269e-01 -7.27052505e-02 1.20653800e+02] [ 8.43266072e-02 4.64128699e-03 9.96427359e-01 2.21356925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:223.05, Y:120.70, Z:22.14 [[ 5.55708819e-01 -8.30267137e-01 -4.29440273e-02 2.23048793e+02] [ 8.27090765e-01 5.57344184e-01 -7.27208897e-02 1.20701179e+02] [ 8.43123688e-02 4.89303136e-03 9.96427359e-01 2.21417270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:120.75, Z:22.15 [[ 5.55292617e-01 -8.30546883e-01 -4.29183422e-02 2.23083743e+02] [ 8.27370178e-01 5.56927334e-01 -7.27360454e-02 1.20747814e+02] [ 8.43130937e-02 4.88043261e-03 9.96427360e-01 2.21507782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.12, Y:120.79, Z:22.15 [[ 5.52733063e-01 -8.32253731e-01 -4.28939095e-02 2.23117271e+02] [ 8.29080973e-01 5.54375426e-01 -7.27504511e-02 1.20794212e+02] [ 8.43261637e-02 4.64905551e-03 9.96427360e-01 2.21528823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.16, Y:120.84, Z:22.16 [[ 5.46549675e-01 -8.36328593e-01 -4.28711744e-02 2.23159512e+02] [ 8.33167056e-01 5.48213535e-01 -7.27638462e-02 1.20837098e+02] [ 8.43570432e-02 4.05020631e-03 9.96427361e-01 2.21560877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.20, Y:120.88, Z:22.16 [[ 5.46328659e-01 -8.36474358e-01 -4.28444321e-02 2.23195851e+02] [ 8.33312040e-01 5.47991035e-01 -7.27795891e-02 1.20882322e+02] [ 8.43566248e-02 4.05879422e-03 9.96427361e-01 2.21581145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.23, Y:120.93, Z:22.16 [[ 5.53065588e-01 -8.32036577e-01 -4.28204306e-02 2.23233756e+02] [ 8.28859863e-01 5.54700283e-01 -7.27937079e-02 1.20927247e+02] [ 8.43195325e-02 4.76755860e-03 9.96427362e-01 2.21578358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:120.97, Z:22.16 [[ 5.63082574e-01 -8.25291852e-01 -4.27945593e-02 2.23271840e+02] [ 8.22094478e-01 5.64676483e-01 -7.28089142e-02 1.20971796e+02] [ 8.42536848e-02 5.81625989e-03 9.96427362e-01 2.21616220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.31, Y:121.02, Z:22.17 [[ 5.63539560e-01 -8.24981187e-01 -4.27692059e-02 2.23307573e+02] [ 8.21781826e-01 5.65129475e-01 -7.28238042e-02 1.21018368e+02] [ 8.42484073e-02 5.89213842e-03 9.96427362e-01 2.21674505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:223.35, Y:121.06, Z:22.17 [[ 5.55832924e-01 -8.30194466e-01 -4.27423607e-02 2.23347141e+02] [ 8.27008859e-01 5.57450218e-01 -7.28395570e-02 1.21062783e+02] [ 8.42977355e-02 5.13831297e-03 9.96427363e-01 2.21729414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:121.11, Z:22.18 [[ 5.43309642e-01 -8.38444970e-01 -4.27161009e-02 2.23387578e+02] [ 8.35282800e-01 5.44972293e-01 -7.28549537e-02 1.21106397e+02] [ 8.43639609e-02 3.90277444e-03 9.96427363e-01 2.21802782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:121.15, Z:22.19 [[ 5.32864930e-01 -8.45122749e-01 -4.26908019e-02 2.23424400e+02] [ 8.41980273e-01 5.34564510e-01 -7.28697751e-02 1.21151780e+02] [ 8.44048923e-02 2.88493461e-03 9.96427364e-01 2.21863724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21710568099996 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:223.46, Y:121.20, Z:22.19 [[ 5.29315814e-01 -8.47350585e-01 -4.26820367e-02 2.23455092e+02] [ 8.44214853e-01 5.31027805e-01 -7.28749088e-02 1.21200493e+02] [ 8.44159449e-02 2.54103228e-03 9.96427364e-01 2.21889369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27710568099997 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:121.25, Z:22.20 [[ 5.25594949e-01 -8.49664918e-01 -4.26553235e-02 2.23488590e+02] [ 8.46535463e-01 5.27318385e-01 -7.28905414e-02 1.21247606e+02] [ 8.44254722e-02 2.20165633e-03 9.96427364e-01 2.21969117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33710568099997 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:223.51, Y:121.30, Z:22.20 [[ 5.22047608e-01 -8.51850377e-01 -4.26289883e-02 2.23514295e+02] [ 8.48726884e-01 5.23781826e-01 -7.29059399e-02 1.21299415e+02] [ 8.44332417e-02 1.88000308e-03 9.96427365e-01 2.22024076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39710568099997 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:223.54, Y:121.35, Z:22.21 [[ 5.27135300e-01 -8.48712775e-01 -4.26028194e-02 2.23544075e+02] [ 8.45577734e-01 5.28848552e-01 -7.29212287e-02 1.21349236e+02] [ 8.44196177e-02 2.41535832e-03 9.96427365e-01 2.22050099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:223.57, Y:121.40, Z:22.21 [[ 5.34245643e-01 -8.44256361e-01 -4.25768787e-02 2.23573887e+02] [ 8.41105842e-01 5.35930264e-01 -7.29363717e-02 1.21398555e+02] [ 8.43952335e-02 3.15427740e-03 9.96427366e-01 2.22138422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:223.60, Y:121.45, Z:22.21 [[ 5.41481580e-01 -8.39635153e-01 -4.25500787e-02 2.23604253e+02] [ 8.36469058e-01 5.43136741e-01 -7.29520031e-02 1.21448779e+02] [ 8.43635773e-02 3.91034167e-03 9.96427366e-01 2.22134927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:223.64, Y:121.50, Z:22.22 [[ 5.45295828e-01 -8.37164384e-01 -4.25235719e-02 2.23635650e+02] [ 8.33989604e-01 5.46934266e-01 -7.29674506e-02 1.21497121e+02] [ 8.43433495e-02 4.32462952e-03 9.96427367e-01 2.22177947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:223.66, Y:121.55, Z:22.22 [[ 5.47625889e-01 -8.35643441e-01 -4.24961685e-02 2.23664061e+02] [ 8.32462889e-01 5.49253093e-01 -7.29834069e-02 1.21548005e+02] [ 8.43292573e-02 4.59111994e-03 9.96427367e-01 2.22227587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697105681 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:223.70, Y:121.59, Z:22.23 [[ 5.49559265e-01 -8.34374631e-01 -4.24686788e-02 2.23695360e+02] [ 8.31189104e-01 5.51176707e-01 -7.29993996e-02 1.21594743e+02] [ 8.43165936e-02 4.81799339e-03 9.96427368e-01 2.22301796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757105681 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:121.64, Z:22.23 [[ 5.49904956e-01 -8.34148070e-01 -4.24445153e-02 2.23725234e+02] [ 8.30960806e-01 5.51518971e-01 -7.30134464e-02 1.21643817e+02] [ 8.43129809e-02 4.88072736e-03 9.96427368e-01 2.22341671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:223.76, Y:121.69, Z:22.23 [[ 5.51969843e-01 -8.32784488e-01 -4.24180202e-02 2.23758991e+02] [ 8.29592073e-01 5.53573646e-01 -7.30288359e-02 1.21692168e+02] [ 8.42987798e-02 5.12006184e-03 9.96427369e-01 2.22300839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:121.74, Z:22.24 [[ 5.48647394e-01 -8.34978371e-01 -4.23928976e-02 2.23791537e+02] [ 8.31791262e-01 5.50261715e-01 -7.30434166e-02 1.21740678e+02] [ 8.43168615e-02 4.81303836e-03 9.96427369e-01 2.22383887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:223.83, Y:121.79, Z:22.24 [[ 5.45165283e-01 -8.37256710e-01 -4.23794198e-02 2.23825505e+02] [ 8.34075753e-01 5.46791692e-01 -7.30512355e-02 1.21787103e+02] [ 8.43353518e-02 4.47735106e-03 9.96427369e-01 2.22444808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997105681 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:223.86, Y:121.83, Z:22.26 [[ 5.42023854e-01 -8.39294644e-01 -4.23632071e-02 2.23860449e+02] [ 8.36119080e-01 5.43660766e-01 -7.30606362e-02 1.21833273e+02] [ 8.43506143e-02 4.17992192e-03 9.96427369e-01 2.22555736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:121.88, Z:22.26 [[ 5.35584490e-01 -8.43419717e-01 -4.23371693e-02 2.23891405e+02] [ 8.40255593e-01 5.37243407e-01 -7.30757215e-02 1.21881229e+02] [ 8.43788694e-02 3.56417970e-03 9.96427370e-01 2.22615066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:223.92, Y:121.93, Z:22.27 [[ 5.29951721e-01 -8.46971853e-01 -4.23066571e-02 2.23920724e+02] [ 8.43817457e-01 5.31629060e-01 -7.30933822e-02 1.21929577e+02] [ 8.43994857e-02 3.03686787e-03 9.96427370e-01 2.22701605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:223.95, Y:121.98, Z:22.28 [[ 5.14462065e-01 -8.56470395e-01 -4.22758351e-02 2.23951996e+02] [ 8.53345564e-01 5.16193859e-01 -7.31112047e-02 1.21978657e+02] [ 8.44401089e-02 1.53704506e-03 9.96427371e-01 2.22760503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:223.98, Y:122.03, Z:22.29 [[ 4.94371451e-01 -8.68223329e-01 -4.22506709e-02 2.23980138e+02] [ 8.65138449e-01 4.96173447e-01 -7.31257442e-02 1.22028230e+02] [ 8.44531381e-02 -4.01399660e-04 9.96427371e-01 2.22866549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:224.00, Y:122.08, Z:22.29 [[ 4.80313905e-01 -8.76079779e-01 -4.22228966e-02 2.24002991e+02] [ 8.73022941e-01 4.82163070e-01 -7.31417776e-02 1.22082804e+02] [ 8.44363538e-02 -1.73054447e-03 9.96427372e-01 2.22872143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:122.14, Z:22.29 [[ 4.68746163e-01 -8.82324034e-01 -4.22058485e-02 2.24024742e+02] [ 8.79290910e-01 4.70633973e-01 -7.31516138e-02 1.22137365e+02] [ 8.44069332e-02 -2.82168064e-03 9.96427372e-01 2.22931831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:122.20, Z:22.30 [[ 4.59781900e-01 -8.87029671e-01 -4.21778016e-02 2.24033342e+02] [ 8.84014364e-01 4.61698039e-01 -7.31677815e-02 1.22198629e+02] [ 8.43754015e-02 -3.64456092e-03 9.96427373e-01 2.22982291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:224.04, Y:122.26, Z:22.30 [[ 4.61358828e-01 -8.86211902e-01 -4.21485103e-02 2.24040323e+02] [ 8.83191666e-01 4.63267188e-01 -7.31846510e-02 1.22260697e+02] [ 8.43831307e-02 -3.46082821e-03 9.96427373e-01 2.22993280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:224.06, Y:122.32, Z:22.31 [[ 4.65072976e-01 -8.84269316e-01 -4.21296100e-02 2.24061680e+02] [ 8.81240123e-01 4.66967086e-01 -7.31955296e-02 1.22315332e+02] [ 8.43977021e-02 -3.08503992e-03 9.96427373e-01 2.23091103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.07, Y:122.38, Z:22.32 [[ 4.75171574e-01 -8.78885256e-01 -4.21032277e-02 2.24066166e+02] [ 8.75833229e-01 4.77028665e-01 -7.32107021e-02 1.22379271e+02] [ 8.44282532e-02 -2.08776135e-03 9.96427374e-01 2.23154179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.07, Y:122.44, Z:22.31 [[ 4.83015661e-01 -8.74600226e-01 -4.20751163e-02 2.24073372e+02] [ 8.71530306e-01 4.84843020e-01 -7.32268545e-02 1.22442461e+02] [ 8.44440500e-02 -1.30002142e-03 9.96427374e-01 2.23132095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:122.51, Z:22.30 [[ 4.82029269e-01 -8.75145554e-01 -4.20481055e-02 2.24078677e+02] [ 8.72076349e-01 4.83857829e-01 -7.32423613e-02 1.22507754e+02] [ 8.44430319e-02 -1.36419639e-03 9.96427375e-01 2.23035472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.10, Y:122.56, Z:22.31 [[ 4.77725911e-01 -8.77502891e-01 -4.20313043e-02 2.24096815e+02] [ 8.74441858e-01 4.79568119e-01 -7.32520017e-02 1.22563918e+02] [ 8.44357168e-02 -1.75955262e-03 9.96427375e-01 2.23106236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.11, Y:122.62, Z:22.32 [[ 4.73746097e-01 -8.79658712e-01 -4.20141031e-02 2.24111012e+02] [ 8.76605187e-01 4.75600721e-01 -7.32618663e-02 1.22621390e+02] [ 8.44273767e-02 -2.12225747e-03 9.96427375e-01 2.23196751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.12, Y:122.68, Z:22.32 [[ 4.90604505e-01 -8.70370141e-01 -4.19885478e-02 2.24117120e+02] [ 8.67280204e-01 4.92397808e-01 -7.32765099e-02 1.22683753e+02] [ 8.44527551e-02 -4.66050462e-04 9.96427376e-01 2.23222600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:122.74, Z:22.32 [[ 5.12810279e-01 -8.57475825e-01 -4.19622047e-02 2.24131229e+02] [ 8.54339594e-01 5.14521331e-01 -7.32915923e-02 1.22743171e+02] [ 8.44362180e-02 1.73470897e-03 9.96427376e-01 2.23243126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:122.80, Z:22.33 [[ 5.24735839e-01 -8.50231550e-01 -4.19357964e-02 2.24154229e+02] [ 8.47070530e-01 5.26400650e-01 -7.33066995e-02 1.22797224e+02] [ 8.44026992e-02 2.94407521e-03 9.96427377e-01 2.23310337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:122.85, Z:22.35 [[ 5.24537707e-01 -8.50354987e-01 -4.19117053e-02 2.24180418e+02] [ 8.47193264e-01 5.26201180e-01 -7.33204706e-02 1.22847431e+02] [ 8.44024166e-02 2.95203706e-03 9.96427377e-01 2.23477503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:122.90, Z:22.36 [[ 5.20237988e-01 -8.52992709e-01 -4.19031511e-02 2.24211214e+02] [ 8.49839034e-01 5.21916668e-01 -7.33253590e-02 1.22896584e+02] [ 8.44159497e-02 2.53570380e-03 9.96427377e-01 2.23554581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.24, Y:122.95, Z:22.36 [[ 5.19066671e-01 -8.53706794e-01 -4.18867505e-02 2.24241347e+02] [ 8.50554675e-01 5.20748272e-01 -7.33347267e-02 1.22945125e+02] [ 8.44188073e-02 2.43864105e-03 9.96427377e-01 2.23611893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.27, Y:123.00, Z:22.36 [[ 5.21003386e-01 -8.52527539e-01 -4.18600913e-02 2.24271097e+02] [ 8.49370396e-01 5.22675536e-01 -7.33499408e-02 1.22995701e+02] [ 8.44120902e-02 2.66084519e-03 9.96427378e-01 2.23594459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317105681 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:224.31, Y:123.04, Z:22.36 [[ 5.21720131e-01 -8.52090481e-01 -4.18320108e-02 2.24305407e+02] [ 8.48930659e-01 5.23387211e-01 -7.33659519e-02 1.23043642e+02] [ 8.44087687e-02 2.76401756e-03 9.96427378e-01 2.23566637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377105681 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:224.34, Y:123.09, Z:22.36 [[ 5.14353386e-01 -8.56558201e-01 -4.18167637e-02 2.24338762e+02] [ 8.53412170e-01 5.16046345e-01 -7.33746413e-02 1.23091995e+02] [ 8.44290389e-02 2.05356016e-03 9.96427378e-01 2.23607891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437105681 meters Centerline goodness : 0.998081 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:123.14, Z:22.37 [[ 5.00601728e-01 -8.64668398e-01 -4.17908141e-02 2.24373534e+02] [ 8.61548589e-01 5.02342535e-01 -7.33894181e-02 1.23138534e+02] [ 8.44508141e-02 7.34052590e-04 9.96427379e-01 2.23709718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497105681 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:123.19, Z:22.38 [[ 4.87648972e-01 -8.72039640e-01 -4.17773478e-02 2.24404300e+02] [ 8.68945489e-01 4.89434987e-01 -7.33970831e-02 1.23186970e+02] [ 8.44524616e-02 -5.10225772e-04 9.96427379e-01 2.23794672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:224.44, Y:123.24, Z:22.39 [[ 4.72658795e-01 -8.80255989e-01 -4.17499300e-02 2.24436299e+02] [ 8.77191476e-01 4.74495198e-01 -7.34126757e-02 1.23235206e+02] [ 8.44320888e-02 -1.92353588e-03 9.96427379e-01 2.23914931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:123.29, Z:22.40 [[ 4.55104870e-01 -8.89459775e-01 -4.17236959e-02 2.24460828e+02] [ 8.86430940e-01 4.56999540e-01 -7.34275827e-02 1.23286037e+02] [ 8.43785910e-02 -3.56792452e-03 9.96427380e-01 2.24014470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:123.34, Z:22.40 [[ 4.55252817e-01 -8.89385211e-01 -4.16991623e-02 2.24483661e+02] [ 8.86354798e-01 4.57144962e-01 -7.34415127e-02 1.23339914e+02] [ 8.43803571e-02 -3.52579704e-03 9.96427380e-01 2.23979173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.50, Y:123.39, Z:22.41 [[ 4.44817660e-01 -8.94651259e-01 -4.16698276e-02 2.24500658e+02] [ 8.91641652e-01 4.46742726e-01 -7.34581531e-02 1.23394799e+02] [ 8.43351215e-02 -4.47907010e-03 9.96427381e-01 2.24099120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.52, Y:123.45, Z:22.40 [[ 4.43295557e-01 -8.95407290e-01 -4.16513466e-02 2.24520560e+02] [ 8.92399993e-01 4.45224228e-01 -7.34686305e-02 1.23451202e+02] [ 8.43285359e-02 -4.60134392e-03 9.96427381e-01 2.24048155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:224.54, Y:123.51, Z:22.41 [[ 4.37524433e-01 -8.98242687e-01 -4.16226651e-02 2.24537038e+02] [ 8.95246346e-01 4.39470081e-01 -7.34848761e-02 1.23507882e+02] [ 8.42991685e-02 -5.11111014e-03 9.96427382e-01 2.24111122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:123.57, Z:22.42 [[ 4.34032396e-01 -8.99936567e-01 -4.15939382e-02 2.24549908e+02] [ 8.96946280e-01 4.35987334e-01 -7.35011325e-02 1.23565988e+02] [ 8.42807870e-02 -5.40565552e-03 9.96427382e-01 2.24184518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.56, Y:123.62, Z:22.42 [[ 4.39427028e-01 -8.97315634e-01 -4.15757261e-02 2.24563943e+02] [ 8.94312707e-01 4.41362494e-01 -7.35114328e-02 1.23625000e+02] [ 8.43129240e-02 -4.87878972e-03 9.96427382e-01 2.24198464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:123.69, Z:22.42 [[ 4.36784674e-01 -8.98605959e-01 -4.15509348e-02 2.24571516e+02] [ 8.95607433e-01 4.38726949e-01 -7.35254429e-02 1.23687714e+02] [ 8.42999160e-02 -5.09853945e-03 9.96427383e-01 2.24180385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:224.58, Y:123.75, Z:22.42 [[ 4.33347196e-01 -9.00269903e-01 -4.15247927e-02 2.24579906e+02] [ 8.97277437e-01 4.35298794e-01 -7.35402042e-02 1.23747684e+02] [ 8.42817247e-02 -5.39081828e-03 9.96427383e-01 2.24223339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:224.59, Y:123.81, Z:22.43 [[ 4.22132620e-01 -9.05583555e-01 -4.15027327e-02 2.24588344e+02] [ 9.02614367e-01 4.24119455e-01 -7.35526518e-02 1.23808507e+02] [ 8.42101882e-02 -6.41198921e-03 9.96427384e-01 2.24308158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21710568099996 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:123.87, Z:22.44 [[ 4.13867834e-01 -9.09391482e-01 -4.14794960e-02 2.24600190e+02] [ 9.06439243e-01 4.15879765e-01 -7.35657536e-02 1.23868860e+02] [ 8.41505528e-02 -7.15214389e-03 9.96427384e-01 2.24363930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27710568099997 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:224.61, Y:123.93, Z:22.45 [[ 4.18935733e-01 -9.07069060e-01 -4.14556607e-02 2.24605221e+02] [ 9.04104351e-01 4.20929242e-01 -7.35791829e-02 1.23931727e+02] [ 8.41913001e-02 -6.65529427e-03 9.96427384e-01 2.24482059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33710568099997 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:124.00, Z:22.46 [[ 4.27468613e-01 -9.03079562e-01 -4.14474230e-02 2.24603534e+02] [ 9.00095751e-01 4.29433417e-01 -7.35838229e-02 1.23998882e+02] [ 8.42509551e-02 -5.85187456e-03 9.96427384e-01 2.24594988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39710568099997 meters Centerline goodness : 0.997972 with order 1 Centerline is valid? [True, True] Translation: X:224.61, Y:124.06, Z:22.46 [[ 4.36997498e-01 -8.98508360e-01 -4.14235887e-02 2.24613729e+02] [ 8.95502683e-01 4.38928686e-01 -7.35972379e-02 1.24058304e+02] [ 8.43097349e-02 -4.93312598e-03 9.96427385e-01 2.24632576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457105681 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:224.64, Y:124.11, Z:22.46 [[ 4.43043799e-01 -8.95543123e-01 -4.14090180e-02 2.24637379e+02] [ 8.92523743e-01 4.44953491e-01 -7.36054351e-02 1.24112302e+02] [ 8.43419283e-02 -4.34810006e-03 9.96427385e-01 2.24641221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517105681 meters Centerline goodness : 0.997256 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:124.17, Z:22.47 [[ 4.66867397e-01 -8.83358378e-01 -4.13861113e-02 2.24645882e+02] [ 8.80287804e-01 4.68693638e-01 -7.36183126e-02 1.24173171e+02] [ 8.44287603e-02 -2.06169903e-03 9.96427385e-01 2.24655141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577105681 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:224.66, Y:124.23, Z:22.47 [[ 4.75141820e-01 -8.78936655e-01 -4.13594887e-02 2.24661762e+02] [ 8.75847772e-01 4.76936917e-01 -7.36332664e-02 1.24230683e+02] [ 8.44448440e-02 -1.23837182e-03 9.96427386e-01 2.24708484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637105681 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:224.68, Y:124.29, Z:22.47 [[ 4.90052953e-01 -8.70712174e-01 -4.13329604e-02 2.24678694e+02] [ 8.67591893e-01 4.91792900e-01 -7.36481548e-02 1.24289824e+02] [ 8.44536014e-02 2.31354341e-04 9.96427386e-01 2.24665886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697105681 meters Centerline goodness : 0.994638 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:124.34, Z:22.47 [[ 4.82826953e-01 -8.74740334e-01 -4.13216786e-02 2.24703235e+02] [ 8.71634026e-01 4.84591726e-01 -7.36544841e-02 1.24343355e+02] [ 8.44526916e-02 -4.55010985e-04 9.96427386e-01 2.24738882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757105681 meters Centerline goodness : 0.994588 with order 1 Centerline is valid? [True, True] Translation: X:224.73, Y:124.39, Z:22.48 [[ 4.76644000e-01 -8.78125931e-01 -4.12958422e-02 2.24730442e+02] [ 8.75030901e-01 4.78428475e-01 -7.36689670e-02 1.24393076e+02] [ 8.44477371e-02 -1.02126689e-03 9.96427387e-01 2.24798803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817105681 meters Centerline goodness : 0.995225 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:124.44, Z:22.49 [[ 4.71116199e-01 -8.81104508e-01 -4.12840579e-02 2.24759643e+02] [ 8.78020177e-01 4.72919105e-01 -7.36755703e-02 1.24442226e+02] [ 8.44398968e-02 -1.53848111e-03 9.96427387e-01 2.24859148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877105681 meters Centerline goodness : 0.995071 with order 1 Centerline is valid? [True, True] Translation: X:224.79, Y:124.49, Z:22.49 [[ 4.60887252e-01 -8.86498312e-01 -4.12757142e-02 2.24792822e+02] [ 8.83434638e-01 4.62725040e-01 -7.36802445e-02 1.24490814e+02] [ 8.44167188e-02 -2.50611022e-03 9.96427387e-01 2.24864394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937105681 meters Centerline goodness : 0.995598 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:124.54, Z:22.49 [[ 4.55006512e-01 -8.89532132e-01 -4.12511791e-02 2.24823373e+02] [ 8.86479462e-01 4.56862520e-01 -7.36939784e-02 1.24540392e+02] [ 8.43992793e-02 -3.03708294e-03 9.96427387e-01 2.24888715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997105681 meters Centerline goodness : 0.994672 with order 1 Centerline is valid? [True, True] Translation: X:224.85, Y:124.59, Z:22.50 [[ 4.56570477e-01 -8.88730805e-01 -4.12426581e-02 2.24850434e+02] [ 8.85674447e-01 4.58420406e-01 -7.36987468e-02 1.24591924e+02] [ 8.44048226e-02 -2.87889643e-03 9.96427387e-01 2.24977888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:224.87, Y:124.65, Z:22.51 [[ 4.73834222e-01 -8.79648880e-01 -4.12186528e-02 2.24874892e+02] [ 8.76555826e-01 4.75622119e-01 -7.37121702e-02 1.24645025e+02] [ 8.44453310e-02 -1.20310138e-03 9.96427388e-01 2.25080006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters Centerline goodness : 0.993838 with order 1 Centerline is valid? [True, True] Translation: X:224.90, Y:124.69, Z:22.51 [[ 4.88462256e-01 -8.71612073e-01 -4.11948887e-02 2.24901511e+02] [ 8.68488468e-01 4.90196225e-01 -7.37254487e-02 1.24694939e+02] [ 8.44535701e-02 2.34813218e-04 9.96427388e-01 2.25143411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters Centerline goodness : 0.993815 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:124.75, Z:22.52 [[ 5.04010041e-01 -8.62715343e-01 -4.11839327e-02 2.24925216e+02] [ 8.59560656e-01 5.05686796e-01 -7.37315684e-02 1.24746008e+02] [ 8.44355262e-02 1.76136265e-03 9.96427388e-01 2.25225986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters Centerline goodness : 0.993724 with order 1 Centerline is valid? [True, True] Translation: X:224.96, Y:124.80, Z:22.53 [[ 5.15676538e-01 -8.55793490e-01 -4.11729399e-02 2.24956908e+02] [ 8.52615843e-01 5.17309361e-01 -7.37377064e-02 1.24795165e+02] [ 8.44033964e-02 2.92010427e-03 9.96427388e-01 2.25290834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters Centerline goodness : 0.994672 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:124.84, Z:22.54 [[ 5.21649680e-01 -8.52166803e-01 -4.11503491e-02 2.24993206e+02] [ 8.48976829e-01 5.23258288e-01 -7.37503114e-02 1.24840451e+02] [ 8.43798283e-02 3.53613348e-03 9.96427388e-01 2.25358714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters Centerline goodness : 0.996631 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:124.88, Z:22.54 [[ 5.19037422e-01 -8.53761717e-01 -4.11228085e-02 2.25037234e+02] [ 8.50575479e-01 5.20653417e-01 -7.37656647e-02 1.24882568e+02] [ 8.43890314e-02 3.30908789e-03 9.96427389e-01 2.25384360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:225.08, Y:124.92, Z:22.54 [[ 5.06568478e-01 -8.61219620e-01 -4.10991721e-02 2.25080466e+02] [ 8.58056155e-01 5.08228609e-01 -7.37788317e-02 1.24924215e+02] [ 8.44275525e-02 2.10863294e-03 9.96427389e-01 2.25435125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters Centerline goodness : 0.997634 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:124.97, Z:22.55 [[ 4.96103095e-01 -8.67291619e-01 -4.10726943e-02 2.25122294e+02] [ 8.64147272e-01 4.97799157e-01 -7.37935690e-02 1.24965841e+02] [ 8.44464965e-02 1.11636124e-03 9.96427390e-01 2.25463179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:225.16, Y:125.01, Z:22.55 [[ 4.89743520e-01 -8.70899406e-01 -4.10549516e-02 2.25155599e+02] [ 8.67766730e-01 4.91461041e-01 -7.38034388e-02 1.25014471e+02] [ 8.44522803e-02 5.18634755e-04 9.96427390e-01 2.25499710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters Centerline goodness : 0.998353 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:125.06, Z:22.55 [[ 4.82385327e-01 -8.74997576e-01 -4.10321634e-02 2.25194137e+02] [ 8.71878414e-01 4.84127271e-01 -7.38161061e-02 1.25058977e+02] [ 8.44537032e-02 -1.67251077e-04 9.96427390e-01 2.25500360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:125.11, Z:22.56 [[ 4.89426302e-01 -8.71079403e-01 -4.10191238e-02 2.25226789e+02] [ 8.67945689e-01 4.91141928e-01 -7.38233514e-02 1.25105800e+02] [ 8.44522125e-02 5.28718193e-04 9.96427390e-01 2.25620917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71710568099996 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:225.26, Y:125.15, Z:22.58 [[ 5.00604149e-01 -8.64704515e-01 -4.10071635e-02 2.25258923e+02] [ 8.61548424e-01 5.02278254e-01 -7.38299945e-02 1.25153664e+02] [ 8.44381361e-02 1.62994450e-03 9.96427390e-01 2.25750520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77710568099997 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:225.29, Y:125.20, Z:22.58 [[ 5.05797044e-01 -8.61678367e-01 -4.09846631e-02 2.25291088e+02] [ 8.58511256e-01 5.07450206e-01 -7.38424829e-02 1.25202632e+02] [ 8.44261458e-02 2.16351500e-03 9.96427391e-01 2.25844212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83710568099997 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:125.25, Z:22.59 [[ 5.05940314e-01 -8.61595442e-01 -4.09596510e-02 2.25325703e+02] [ 8.58426940e-01 5.07590808e-01 -7.38563543e-02 1.25247966e+02] [ 8.44250405e-02 2.20603920e-03 9.96427391e-01 2.25891162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89710568099997 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:125.29, Z:22.59 [[ 4.98963562e-01 -8.65655234e-01 -4.09436100e-02 2.25361099e+02] [ 8.62499443e-01 5.00638229e-01 -7.38652458e-02 1.25294034e+02] [ 8.44397731e-02 1.54222535e-03 9.96427391e-01 2.25936563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:225.40, Y:125.34, Z:22.59 [[ 4.89438820e-01 -8.71077224e-01 -4.09158968e-02 2.25397625e+02] [ 8.67938712e-01 4.91145650e-01 -7.38805937e-02 1.25341910e+02] [ 8.44513673e-02 6.47539794e-04 9.96427392e-01 2.25918406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017105681 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:225.43, Y:125.39, Z:22.60 [[ 4.88495586e-01 -8.71607581e-01 -4.08936068e-02 2.25434803e+02] [ 8.68469889e-01 4.90203924e-01 -7.38929295e-02 1.25387216e+02] [ 8.44518440e-02 5.81503735e-04 9.96427392e-01 2.25953404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:125.43, Z:22.60 [[ 4.99469440e-01 -8.65366525e-01 -4.08785512e-02 2.25468111e+02] [ 8.62206820e-01 5.01136711e-01 -7.39012575e-02 1.25434236e+02] [ 8.44374171e-02 1.66565401e-03 9.96427392e-01 2.26001790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:225.50, Y:125.48, Z:22.61 [[ 5.14013740e-01 -8.56808676e-01 -4.08505564e-02 2.25501512e+02] [ 8.53620044e-01 5.15624996e-01 -7.39167290e-02 1.25482630e+02] [ 8.43960628e-02 3.12336052e-03 9.96427393e-01 2.26063124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:125.53, Z:22.61 [[ 5.17869703e-01 -8.54484765e-01 -4.08259426e-02 2.25535059e+02] [ 8.51287844e-01 5.19464450e-01 -7.39303214e-02 1.25531127e+02] [ 8.43799591e-02 3.53164495e-03 9.96427393e-01 2.26142222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:225.58, Y:125.57, Z:22.61 [[ 5.14844286e-01 -8.56312214e-01 -4.08013908e-02 2.25581393e+02] [ 8.53119890e-01 5.16448213e-01 -7.39438688e-02 1.25572154e+02] [ 8.43908434e-02 3.26110030e-03 9.96427394e-01 2.26129199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.62, Y:125.62, Z:22.63 [[ 5.06311576e-01 -8.61385979e-01 -4.07772343e-02 2.25621038e+02] [ 8.58208682e-01 5.07945069e-01 -7.39571878e-02 1.25615173e+02] [ 8.44182797e-02 2.45000387e-03 9.96427394e-01 2.26305515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:125.66, Z:22.64 [[ 4.97179492e-01 -8.66690076e-01 -4.07537174e-02 2.25655999e+02] [ 8.63529163e-01 4.98844467e-01 -7.39701444e-02 1.25661331e+02] [ 8.44389565e-02 1.58441535e-03 9.96427394e-01 2.26351924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:225.69, Y:125.71, Z:22.64 [[ 4.85804270e-01 -8.73118337e-01 -4.07256738e-02 2.25689900e+02] [ 8.69978176e-01 4.87508058e-01 -7.39855812e-02 1.25708357e+02] [ 8.44522618e-02 5.12063840e-04 9.96427395e-01 2.26417493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:125.75, Z:22.65 [[ 4.65473310e-01 -8.84125752e-01 -4.06970706e-02 2.25723419e+02] [ 8.81024482e-01 4.67246902e-01 -7.40013117e-02 1.25754860e+02] [ 8.44420455e-02 -1.40948005e-03 9.96427395e-01 2.26516512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:125.80, Z:22.65 [[ 4.53090284e-01 -8.90536494e-01 -4.06687598e-02 2.25753896e+02] [ 8.87458890e-01 4.54904630e-01 -7.40168671e-02 1.25804815e+02] [ 8.44151285e-02 -2.55552909e-03 9.96427396e-01 2.26519054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.78, Y:125.86, Z:22.66 [[ 4.41890963e-01 -8.96147695e-01 -4.06409493e-02 2.25780209e+02] [ 8.93091688e-01 4.43741455e-01 -7.40321342e-02 1.25856291e+02] [ 8.43778003e-02 -3.58196297e-03 9.96427396e-01 2.26558703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.80, Y:125.91, Z:22.65 [[ 4.34255097e-01 -8.99873933e-01 -4.06130057e-02 2.25802170e+02] [ 8.96832359e-01 4.36129216e-01 -7.40474605e-02 1.25910580e+02] [ 8.43458978e-02 -4.26757058e-03 9.96427397e-01 2.26528610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:125.97, Z:22.66 [[ 4.30250424e-01 -9.01796706e-01 -4.05866276e-02 2.25822963e+02] [ 8.98762152e-01 4.32135888e-01 -7.40619160e-02 1.25965038e+02] [ 8.43277302e-02 -4.61255405e-03 9.96427397e-01 2.26589144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.84, Y:126.03, Z:22.66 [[ 4.36565415e-01 -8.98757789e-01 -4.05595183e-02 2.25836616e+02] [ 8.95708724e-01 4.38427320e-01 -7.40767593e-02 1.26025686e+02] [ 8.43594653e-02 -3.99016316e-03 9.96427398e-01 2.26563222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:225.85, Y:126.08, Z:22.66 [[ 4.60680110e-01 -8.86640056e-01 -4.05369914e-02 2.25846205e+02] [ 8.83540737e-01 4.62457104e-01 -7.40890846e-02 1.26084652e+02] [ 8.44369698e-02 -1.68471560e-03 9.96427398e-01 2.26631492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:225.86, Y:126.14, Z:22.67 [[ 4.84255185e-01 -8.73988372e-01 -4.05122268e-02 2.25856111e+02] [ 8.70841456e-01 4.85946457e-01 -7.41026236e-02 1.26143496e+02] [ 8.44516045e-02 6.04853100e-04 9.96427399e-01 2.26663454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:126.20, Z:22.67 [[ 4.93113157e-01 -8.69022534e-01 -4.04876611e-02 2.25876030e+02] [ 8.65857494e-01 4.94770263e-01 -7.41160432e-02 1.26198782e+02] [ 8.44406024e-02 1.49105127e-03 9.96427399e-01 2.26738664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:225.90, Y:126.25, Z:22.67 [[ 4.95360310e-01 -8.67744667e-01 -4.04642525e-02 2.25901686e+02] [ 8.64574311e-01 4.97007221e-01 -7.41288212e-02 1.26252036e+02] [ 8.44359150e-02 1.73612254e-03 9.96427399e-01 2.26738175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:126.30, Z:22.68 [[ 4.85604833e-01 -8.73242499e-01 -4.04411108e-02 2.25931631e+02] [ 8.70089751e-01 4.87285206e-01 -7.41414440e-02 1.26302589e+02] [ 8.44498149e-02 8.16047543e-04 9.96427400e-01 2.26821574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:126.35, Z:22.69 [[ 4.79409960e-01 -8.76659925e-01 -4.04161586e-02 2.25965734e+02] [ 8.73518011e-01 4.81110501e-01 -7.41550436e-02 1.26348406e+02] [ 8.44533933e-02 2.46423966e-04 9.96427400e-01 2.26948178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21710568099996 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:126.40, Z:22.70 [[ 4.77202916e-01 -8.77863817e-01 -4.04041538e-02 2.25997244e+02] [ 8.74725639e-01 4.78910343e-01 -7.41615840e-02 1.26397556e+02] [ 8.44537383e-02 4.75749146e-05 9.96427400e-01 2.26991614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27710568099997 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:126.45, Z:22.69 [[ 4.81442633e-01 -8.75547022e-01 -4.03782465e-02 2.26028907e+02] [ 8.72399445e-01 4.83132669e-01 -7.41756869e-02 1.26448640e+02] [ 8.44523518e-02 4.85378175e-04 9.96427401e-01 2.26909076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33710568099997 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:126.50, Z:22.69 [[ 4.91566007e-01 -8.69904749e-01 -4.03557711e-02 2.26059920e+02] [ 8.66736781e-01 4.93217504e-01 -7.41879128e-02 1.26499330e+02] [ 8.44405904e-02 1.49042502e-03 9.96427401e-01 2.26930298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39710568099997 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:126.55, Z:22.70 [[ 4.97647823e-01 -8.66440439e-01 -4.03436601e-02 2.26090446e+02] [ 8.63260449e-01 4.99276050e-01 -7.41944982e-02 1.26548869e+02] [ 8.44277369e-02 2.09564435e-03 9.96427401e-01 2.27029209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457105681 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:126.60, Z:22.71 [[ 5.05618679e-01 -8.61814506e-01 -4.03176011e-02 2.26125938e+02] [ 8.58618513e-01 5.07215265e-01 -7.42086561e-02 1.26595273e+02] [ 8.44037991e-02 2.90384391e-03 9.96427401e-01 2.27146022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517105681 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:226.16, Y:126.64, Z:22.72 [[ 5.11588744e-01 -8.58285184e-01 -4.02926720e-02 2.26160725e+02] [ 8.55077131e-01 5.13160956e-01 -7.42221894e-02 1.26641525e+02] [ 8.43804315e-02 3.51789430e-03 9.96427402e-01 2.27161570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577105681 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:226.20, Y:126.69, Z:22.72 [[ 5.15530932e-01 -8.55924280e-01 -4.02676643e-02 2.26199284e+02] [ 8.52707983e-01 5.17086210e-01 -7.42357543e-02 1.26688028e+02] [ 8.43620385e-02 3.93426875e-03 9.96427402e-01 2.27179719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:126.73, Z:22.72 [[ 5.03850989e-01 -8.62852665e-01 -4.02425115e-02 2.26238601e+02] [ 8.59656722e-01 5.05447673e-01 -7.42493869e-02 1.26731064e+02] [ 8.44067651e-02 2.81588150e-03 9.96427403e-01 2.27226641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.28, Y:126.77, Z:22.73 [[ 4.80830960e-01 -8.75890510e-01 -4.02169381e-02 2.26282855e+02] [ 8.72736804e-01 4.82509526e-01 -7.42632361e-02 1.26772946e+02] [ 8.44515195e-02 6.09261083e-04 9.96427403e-01 2.27321223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:126.82, Z:22.73 [[ 4.71405503e-01 -8.81000332e-01 -4.01903767e-02 2.26321139e+02] [ 8.77863596e-01 4.73115571e-01 -7.42776081e-02 1.26818967e+02] [ 8.44532904e-02 -2.66795443e-04 9.96427404e-01 2.27321178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:126.87, Z:22.73 [[ 4.72717003e-01 -8.80298586e-01 -4.01625999e-02 2.26356361e+02] [ 8.77158035e-01 4.74420053e-01 -7.42926243e-02 1.26866928e+02] [ 8.44536349e-02 -1.09560511e-04 9.96427404e-01 2.27324206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:126.92, Z:22.74 [[ 4.76248830e-01 -8.78393960e-01 -4.01385575e-02 2.26384377e+02] [ 8.75245503e-01 4.77937219e-01 -7.43056116e-02 1.26915956e+02] [ 8.44533110e-02 2.56868622e-04 9.96427404e-01 2.27387857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:126.96, Z:22.75 [[ 4.68531489e-01 -8.82535631e-01 -4.01136254e-02 2.26416110e+02] [ 8.79400946e-01 4.70245311e-01 -7.43190687e-02 1.26964677e+02] [ 8.44524705e-02 -4.55136139e-04 9.96427405e-01 2.27493529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:127.01, Z:22.76 [[ 4.55416505e-01 -8.89375511e-01 -4.00874953e-02 2.26446774e+02] [ 8.86265304e-01 4.57174357e-01 -7.43331606e-02 1.27013465e+02] [ 8.44370676e-02 -1.67560791e-03 9.96427405e-01 2.27622566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:226.47, Y:127.07, Z:22.77 [[ 4.39920641e-01 -8.97142610e-01 -4.00620358e-02 2.26470091e+02] [ 8.94062125e-01 4.41730073e-01 -7.43468795e-02 1.27065904e+02] [ 8.43963596e-02 -3.11122198e-03 9.96427406e-01 2.27677295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:127.12, Z:22.78 [[ 4.31903902e-01 -9.01030709e-01 -4.00335030e-02 2.26490031e+02] [ 8.97965074e-01 4.33738380e-01 -7.43622405e-02 1.27120269e+02] [ 8.43667290e-02 -3.83134567e-03 9.96427406e-01 2.27760795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:127.18, Z:22.78 [[ 4.24701685e-01 -9.04449058e-01 -4.00047543e-02 2.26504850e+02] [ 9.01396723e-01 4.26558208e-01 -7.43777033e-02 1.27177640e+02] [ 8.43352000e-02 -4.47181845e-03 9.96427407e-01 2.27788050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.52, Y:127.23, Z:22.79 [[ 4.22709597e-01 -9.05383056e-01 -3.99764787e-02 2.26520935e+02] [ 9.02333403e-01 4.24570521e-01 -7.43928978e-02 1.27233757e+02] [ 8.43269035e-02 -4.62552022e-03 9.96427407e-01 2.27859087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:127.29, Z:22.79 [[ 4.23650106e-01 -9.04944470e-01 -3.99511336e-02 2.26537196e+02] [ 9.01891623e-01 4.25505784e-01 -7.44065064e-02 1.27290982e+02] [ 8.43331949e-02 -4.50926842e-03 9.96427408e-01 2.27898370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:127.35, Z:22.79 [[ 4.25434169e-01 -9.04108326e-01 -3.99237160e-02 2.26550964e+02] [ 9.01050465e-01 4.27281573e-01 -7.44212148e-02 1.27350352e+02] [ 8.43435080e-02 -4.31195513e-03 9.96427408e-01 2.27865544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:127.41, Z:22.79 [[ 4.34506478e-01 -8.99784497e-01 -3.98996107e-02 2.26561173e+02] [ 8.96707036e-01 4.36321041e-01 -7.44341362e-02 1.27411126e+02] [ 8.43837215e-02 -3.43614726e-03 9.96427409e-01 2.27912369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:226.57, Y:127.47, Z:22.79 [[ 4.55166515e-01 -8.89513010e-01 -3.98754230e-02 2.26574409e+02] [ 8.86393341e-01 4.56907513e-01 -7.44470916e-02 1.27471172e+02] [ 8.44410369e-02 -1.45948622e-03 9.96427409e-01 2.27899446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:127.53, Z:22.79 [[ 4.65123280e-01 -8.84348049e-01 -3.98605252e-02 2.26586348e+02] [ 8.81208352e-01 4.66827894e-01 -7.44550674e-02 1.27530350e+02] [ 8.44521987e-02 -4.94642536e-04 9.96427409e-01 2.27944941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:127.59, Z:22.80 [[ 4.65509419e-01 -8.84146282e-01 -3.98287844e-02 2.26600517e+02] [ 8.81004394e-01 4.67209988e-01 -7.44720429e-02 1.27589075e+02] [ 8.44525858e-02 -4.21896645e-04 9.96427410e-01 2.28004287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65710568099996 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:226.62, Y:127.64, Z:22.80 [[ 4.58804392e-01 -8.87645274e-01 -3.98044844e-02 2.26624307e+02] [ 8.84515224e-01 4.60526654e-01 -7.44850288e-02 1.27642093e+02] [ 8.44473098e-02 -1.03361408e-03 9.96427410e-01 2.28023582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71710568099996 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:127.70, Z:22.81 [[ 4.49724921e-01 -8.92280355e-01 -3.97902511e-02 2.26648562e+02] [ 8.89167369e-01 4.51477837e-01 -7.44926315e-02 1.27695287e+02] [ 8.44327282e-02 -1.87900005e-03 9.96427410e-01 2.28118638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77710568099997 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:127.75, Z:22.81 [[ 4.48026386e-01 -8.93135548e-01 -3.97649493e-02 2.26674728e+02] [ 8.90024711e-01 4.49783114e-01 -7.45061355e-02 1.27748076e+02] [ 8.44296808e-02 -2.01107286e-03 9.96427411e-01 2.28133841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83710568099997 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:226.70, Y:127.80, Z:22.82 [[ 4.47923950e-01 -8.93188040e-01 -3.97399082e-02 2.26696576e+02] [ 8.90076227e-01 4.49678947e-01 -7.45194895e-02 1.27802541e+02] [ 8.44301168e-02 -1.99248349e-03 9.96427411e-01 2.28160748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89710568099997 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:226.72, Y:127.85, Z:22.82 [[ 4.53609369e-01 -8.90315216e-01 -3.97159469e-02 2.26720125e+02] [ 8.87191165e-01 4.55342486e-01 -7.45322578e-02 1.27854337e+02] [ 8.44415612e-02 -1.42710680e-03 9.96427411e-01 2.28168880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957105681 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:127.91, Z:22.82 [[ 4.68898784e-01 -8.82359125e-01 -3.97027180e-02 2.26737613e+02] [ 8.79205049e-01 4.70576639e-01 -7.45393040e-02 1.27912589e+02] [ 8.44536067e-02 4.45589031e-05 9.96427411e-01 2.28155489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017105681 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:226.77, Y:127.96, Z:22.82 [[ 4.72228603e-01 -8.80582517e-01 -3.96809482e-02 2.26765024e+02] [ 8.77421155e-01 4.73892689e-01 -7.45508914e-02 1.27963420e+02] [ 8.44527228e-02 3.88159879e-04 9.96427412e-01 2.28220087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077105681 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:128.01, Z:22.84 [[ 4.74464775e-01 -8.79380399e-01 -3.96647454e-02 2.26789960e+02] [ 8.76214101e-01 4.76119448e-01 -7.45595111e-02 1.28014943e+02] [ 8.44513293e-02 6.21052460e-04 9.96427412e-01 2.28351838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137105681 meters Centerline goodness : 0.997991 with order 1 Centerline is valid? [True, True] Translation: X:226.82, Y:128.06, Z:22.84 [[ 4.84581755e-01 -8.73846843e-01 -3.96512133e-02 2.26819792e+02] [ 8.70661074e-01 4.86198623e-01 -7.45667069e-02 1.28064911e+02] [ 8.44382467e-02 1.61089768e-03 9.96427412e-01 2.28428457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197105681 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:226.85, Y:128.11, Z:22.84 [[ 4.92811650e-01 -8.69233205e-01 -3.96271809e-02 2.26853499e+02] [ 8.66031291e-01 4.94396304e-01 -7.45794763e-02 1.28112465e+02] [ 8.44184890e-02 2.43525613e-03 9.96427412e-01 2.28446519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257105681 meters Centerline goodness : 0.997917 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:128.16, Z:22.85 [[ 4.93609129e-01 -8.68781914e-01 -3.95981543e-02 2.26888380e+02] [ 8.65577320e-01 4.95188355e-01 -7.45948849e-02 1.28160273e+02] [ 8.44152318e-02 2.54545194e-03 9.96427413e-01 2.28512751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317105681 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:226.93, Y:128.20, Z:22.86 [[ 4.83367103e-01 -8.74522867e-01 -3.95727047e-02 2.26929793e+02] [ 8.71335949e-01 4.84981703e-01 -7.46083836e-02 1.28204383e+02] [ 8.44387752e-02 1.58211801e-03 9.96427413e-01 2.28632158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377105681 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:226.97, Y:128.25, Z:22.86 [[ 4.72717779e-01 -8.80326001e-01 -3.95478682e-02 2.26971110e+02] [ 8.77157817e-01 4.74368833e-01 -7.46215464e-02 1.28247669e+02] [ 8.44515637e-02 5.85209932e-04 9.96427414e-01 2.28635414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437105681 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:227.01, Y:128.29, Z:22.87 [[ 4.60834558e-01 -8.86605150e-01 -3.95324999e-02 2.27006088e+02] [ 8.83458763e-01 4.62526782e-01 -7.46296873e-02 1.28294307e+02] [ 8.44519050e-02 -5.33394476e-04 9.96427414e-01 2.28688277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:227.05, Y:128.34, Z:22.88 [[ 4.59423109e-01 -8.87338592e-01 -3.95048059e-02 2.27045464e+02] [ 8.84193647e-01 4.61118008e-01 -7.46443441e-02 1.28338081e+02] [ 8.44511846e-02 -6.36561708e-04 9.96427414e-01 2.28799858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:227.08, Y:128.39, Z:22.88 [[ 4.68867122e-01 -8.82386046e-01 -3.94776811e-02 2.27077573e+02] [ 8.79221987e-01 4.70526066e-01 -7.46586871e-02 1.28386893e+02] [ 8.44530617e-02 2.95358553e-04 9.96427415e-01 2.28794262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:128.43, Z:22.88 [[ 4.83563317e-01 -8.74419893e-01 -3.94508420e-02 2.27115663e+02] [ 8.71227373e-01 4.85166805e-01 -7.46728667e-02 1.28434139e+02] [ 8.44356790e-02 1.73840569e-03 9.96427415e-01 2.28770589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:128.48, Z:22.89 [[ 4.85475788e-01 -8.73360592e-01 -3.94275969e-02 2.27157895e+02] [ 8.70163579e-01 4.87070298e-01 -7.46851382e-02 1.28475133e+02] [ 8.44310679e-02 1.94936749e-03 9.96427416e-01 2.28897145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:227.20, Y:128.52, Z:22.89 [[ 4.90443684e-01 -8.70581050e-01 -3.94160963e-02 2.27195301e+02] [ 8.67374520e-01 4.92018969e-01 -7.46912073e-02 1.28520581e+02] [ 8.44182167e-02 2.44331328e-03 9.96427416e-01 2.28936650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.24, Y:128.56, Z:22.90 [[ 4.90319158e-01 -8.70652621e-01 -3.93844592e-02 2.27235827e+02] [ 8.67444986e-01 4.91892191e-01 -7.47078858e-02 1.28564325e+02] [ 8.44175245e-02 2.46685601e-03 9.96427416e-01 2.28977120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:128.61, Z:22.91 [[ 4.80660960e-01 -8.76023055e-01 -3.93528671e-02 2.27268191e+02] [ 8.72831656e-01 4.82266675e-01 -7.47245235e-02 1.28610647e+02] [ 8.44389817e-02 1.56873309e-03 9.96427417e-01 2.29061806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:128.66, Z:22.91 [[ 4.64997252e-01 -8.84437852e-01 -3.93349858e-02 2.27304307e+02] [ 8.81274736e-01 4.66657988e-01 -7.47339350e-02 1.28657000e+02] [ 8.44535063e-02 8.61452076e-05 9.96427417e-01 2.29127717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:128.70, Z:22.92 [[ 4.51154289e-01 -8.91579990e-01 -3.93055723e-02 2.27338405e+02] [ 8.88441804e-01 4.52861665e-01 -7.47494016e-02 1.28704073e+02] [ 8.44450577e-02 -1.19720040e-03 9.96427418e-01 2.29199018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.37, Y:128.75, Z:22.92 [[ 4.43258683e-01 -8.95532362e-01 -3.92877647e-02 2.27367706e+02] [ 8.92408560e-01 4.44992236e-01 -7.47587601e-02 1.28753748e+02] [ 8.44316392e-02 -1.92326795e-03 9.96427418e-01 2.29193634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:128.80, Z:22.93 [[ 4.43530703e-01 -8.95398502e-01 -3.92687898e-02 2.27398222e+02] [ 8.92273297e-01 4.45261723e-01 -7.47687258e-02 1.28803973e+02] [ 8.44326940e-02 -1.87626702e-03 9.96427418e-01 2.29272622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:128.86, Z:22.93 [[ 4.47102991e-01 -8.93621234e-01 -3.92429083e-02 2.27424215e+02] [ 8.90487954e-01 4.48819352e-01 -7.47823074e-02 1.28855546e+02] [ 8.44400345e-02 -1.50994386e-03 9.96427419e-01 2.29342043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.44, Y:128.91, Z:22.94 [[ 4.71103807e-01 -8.81205671e-01 -3.92143839e-02 2.27443677e+02] [ 8.78025885e-01 4.72732393e-01 -7.47972621e-02 1.28909913e+02] [ 8.44496811e-02 8.06030878e-04 9.96427419e-01 2.29395587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:128.96, Z:22.95 [[ 4.85697630e-01 -8.73247832e-01 -3.91922948e-02 2.27464997e+02] [ 8.70040466e-01 4.87271204e-01 -7.48088346e-02 1.28963900e+02] [ 8.44239293e-02 2.23559124e-03 9.96427419e-01 2.29471222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.49, Y:129.02, Z:22.95 [[ 4.92962665e-01 -8.69168477e-01 -3.91659340e-02 2.27487548e+02] [ 8.65947014e-01 4.94507172e-01 -7.48226332e-02 1.29017651e+02] [ 8.44013094e-02 2.96914107e-03 9.96427420e-01 2.29468374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:129.07, Z:22.95 [[ 4.94746929e-01 -8.68155348e-01 -3.91378026e-02 2.27514700e+02] [ 8.64929567e-01 4.96282395e-01 -7.48373452e-02 1.29068434e+02] [ 8.43938439e-02 3.17410404e-03 9.96427420e-01 2.29452442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:129.12, Z:22.95 [[ 4.89738520e-01 -8.70991288e-01 -3.91197949e-02 2.27547562e+02] [ 8.67773658e-01 4.91290995e-01 -7.48467572e-02 1.29116070e+02] [ 8.44100764e-02 2.70821259e-03 9.96427421e-01 2.29537165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:129.16, Z:22.96 [[ 4.82099905e-01 -8.75243670e-01 -3.90921938e-02 2.27580740e+02] [ 8.72038583e-01 4.83678111e-01 -7.48611704e-02 1.29163587e+02] [ 8.44298040e-02 2.00066193e-03 9.96427421e-01 2.29617525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.62, Y:129.21, Z:22.96 [[ 4.68698225e-01 -8.82494173e-01 -3.90641674e-02 2.27615429e+02] [ 8.79312308e-01 4.70322741e-01 -7.48757924e-02 1.29211166e+02] [ 8.44502167e-02 7.44547739e-04 9.96427422e-01 2.29633143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:129.26, Z:22.96 [[ 4.57253503e-01 -8.88479298e-01 -3.90355129e-02 2.27648991e+02] [ 8.85317424e-01 4.58916592e-01 -7.48907281e-02 1.29258662e+02] [ 8.44529061e-02 -3.14771905e-04 9.96427422e-01 2.29640321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.68, Y:129.31, Z:22.97 [[ 4.61377492e-01 -8.86345999e-01 -3.90074365e-02 2.27677879e+02] [ 8.83175198e-01 4.63023496e-01 -7.49053491e-02 1.29309541e+02] [ 8.44534161e-02 1.09241688e-04 9.96427423e-01 2.29684908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:129.36, Z:22.98 [[ 4.76766826e-01 -8.78165006e-01 -3.89822455e-02 2.27704904e+02] [ 8.74964912e-01 4.78355128e-01 -7.49184568e-02 1.29361253e+02] [ 8.44381241e-02 1.61053786e-03 9.96427423e-01 2.29806305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:129.41, Z:22.99 [[ 4.84162002e-01 -8.74110694e-01 -3.89570320e-02 2.27728645e+02] [ 8.70896260e-01 4.85721078e-01 -7.49315653e-02 1.29412122e+02] [ 8.44207341e-02 2.35148324e-03 9.96427423e-01 2.29879631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.75, Y:129.46, Z:22.99 [[ 4.92133618e-01 -8.69648688e-01 -3.89314983e-02 2.27753285e+02] [ 8.66419095e-01 4.93661042e-01 -7.49448293e-02 1.29464594e+02] [ 8.43946366e-02 3.15187644e-03 9.96427424e-01 2.29947000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:129.52, Z:22.99 [[ 4.96307818e-01 -8.67274477e-01 -3.89041251e-02 2.27779446e+02] [ 8.64036479e-01 4.97817342e-01 -7.49590362e-02 1.29517312e+02] [ 8.43772071e-02 3.58817243e-03 9.96427424e-01 2.29936449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.81, Y:129.57, Z:23.00 [[ 4.96158188e-01 -8.67361213e-01 -3.88790242e-02 2.27810242e+02] [ 8.64122467e-01 4.97666106e-01 -7.49720531e-02 1.29567020e+02] [ 8.43766235e-02 3.60175971e-03 9.96427425e-01 2.29968072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.84, Y:129.61, Z:23.01 [[ 4.94021971e-01 -8.68581014e-01 -3.88498968e-02 2.27842754e+02] [ 8.65344815e-01 4.95535347e-01 -7.49871437e-02 1.29614345e+02] [ 8.43839064e-02 3.42673982e-03 9.96427425e-01 2.30078324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:129.66, Z:23.02 [[ 4.83339151e-01 -8.74571313e-01 -3.88366361e-02 2.27878631e+02] [ 8.71353357e-01 4.84890941e-01 -7.49940109e-02 1.29660903e+02] [ 8.44191436e-02 2.40710833e-03 9.96427425e-01 2.30164340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:129.71, Z:23.02 [[ 4.63954083e-01 -8.85008769e-01 -3.88083390e-02 2.27914153e+02] [ 8.81824562e-01 4.65573994e-01 -7.50086514e-02 1.29707878e+02] [ 8.44514677e-02 5.78423550e-04 9.96427426e-01 2.30197051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:129.76, Z:23.02 [[ 4.46007669e-01 -8.94188663e-01 -3.87787824e-02 2.27947284e+02] [ 8.91036457e-01 4.47689002e-01 -7.50239289e-02 1.29755896e+02] [ 8.44463810e-02 -1.09206126e-03 9.96427426e-01 2.30173024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:129.81, Z:23.02 [[ 4.40791470e-01 -8.96772609e-01 -3.87526462e-02 2.27976190e+02] [ 8.93629069e-01 4.42488950e-01 -7.50374268e-02 1.29806443e+02] [ 8.44391267e-02 -1.55463351e-03 9.96427427e-01 2.30232684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.99, Y:129.86, Z:23.04 [[ 4.64230754e-01 -8.84867351e-01 -3.87244017e-02 2.27993334e+02] [ 8.81679031e-01 4.65842552e-01 -7.50520001e-02 1.29862071e+02] [ 8.44505386e-02 6.98953633e-04 9.96427427e-01 2.30359518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:129.91, Z:23.05 [[ 4.84884569e-01 -8.73721232e-01 -3.87061142e-02 2.28013788e+02] [ 8.70495191e-01 4.86419474e-01 -7.50614302e-02 1.29914959e+02] [ 8.44101730e-02 2.70264301e-03 9.96427428e-01 2.30468048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:129.97, Z:23.05 [[ 4.88466167e-01 -8.71724841e-01 -3.86859817e-02 2.28038806e+02] [ 8.68491714e-01 4.89986089e-01 -7.50718049e-02 1.29967268e+02] [ 8.43975501e-02 3.07158225e-03 9.96427428e-01 2.30482505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:130.02, Z:23.05 [[ 4.90949725e-01 -8.70329787e-01 -3.86578390e-02 2.28066671e+02] [ 8.67091211e-01 4.92457999e-01 -7.50862941e-02 1.30018890e+02] [ 8.43872004e-02 3.34372307e-03 9.96427428e-01 2.30461860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:130.07, Z:23.05 [[ 4.92494256e-01 -8.69458001e-01 -3.86289170e-02 2.28100098e+02] [ 8.66215597e-01 4.93994285e-01 -7.51011705e-02 1.30065649e+02] [ 8.43797777e-02 3.52592465e-03 9.96427429e-01 2.30500456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.13, Y:130.11, Z:23.06 [[ 4.92091478e-01 -8.69687206e-01 -3.86023530e-02 2.28128913e+02] [ 8.66444439e-01 4.93590719e-01 -7.51148221e-02 1.30114877e+02] [ 8.43801629e-02 3.51656974e-03 9.96427429e-01 2.30601863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:130.16, Z:23.06 [[ 4.87524758e-01 -8.72256698e-01 -3.85728349e-02 2.28163068e+02] [ 8.69020649e-01 4.89038443e-01 -7.51299771e-02 1.30162912e+02] [ 8.43962249e-02 3.10713395e-03 9.96427430e-01 2.30619522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.20, Y:130.21, Z:23.06 [[ 4.79150581e-01 -8.76886040e-01 -3.85434108e-02 2.28197375e+02] [ 8.73663426e-01 4.80692663e-01 -7.51450694e-02 1.30210135e+02] [ 8.44211971e-02 2.33183534e-03 9.96427430e-01 2.30616973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.23, Y:130.26, Z:23.06 [[ 4.70561765e-01 -8.81525696e-01 -3.85236712e-02 2.28230243e+02] [ 8.78317476e-01 4.72133572e-01 -7.51551877e-02 1.30258915e+02] [ 8.44395476e-02 1.52914414e-03 9.96427431e-01 2.30623748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:130.31, Z:23.07 [[ 4.68211534e-01 -8.82777451e-01 -3.84958626e-02 2.28262719e+02] [ 8.79572264e-01 4.69789516e-01 -7.51694291e-02 1.30306973e+02] [ 8.44428297e-02 1.33530074e-03 9.96427431e-01 2.30661481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:130.36, Z:23.08 [[ 4.73942978e-01 -8.79714872e-01 -3.84681362e-02 2.28291883e+02] [ 8.76498345e-01 4.75497713e-01 -7.51836156e-02 1.30356603e+02] [ 8.44316555e-02 1.91548899e-03 9.96427432e-01 2.30774677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:130.41, Z:23.09 [[ 4.81564539e-01 -8.75567154e-01 -3.84415600e-02 2.28321511e+02] [ 8.72336171e-01 4.83089003e-01 -7.51972016e-02 1.30406403e+02] [ 8.44108947e-02 2.67834244e-03 9.96427432e-01 2.30872652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.35, Y:130.46, Z:23.09 [[ 4.84910142e-01 -8.73719949e-01 -3.84135967e-02 2.28350080e+02] [ 8.70482038e-01 4.86419833e-01 -7.52114836e-02 1.30457110e+02] [ 8.43989090e-02 3.03246519e-03 9.96427433e-01 2.30930270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.39, Y:130.50, Z:23.11 [[ 4.88397601e-01 -8.71776519e-01 -3.83859968e-02 2.28385036e+02] [ 8.68531506e-01 4.89891965e-01 -7.52255673e-02 1.30502252e+02] [ 8.43848746e-02 3.40053897e-03 9.96427433e-01 2.31051416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.42, Y:130.55, Z:23.11 [[ 4.92765243e-01 -8.69316087e-01 -3.83660825e-02 2.28416594e+02] [ 8.66062837e-01 4.94241589e-01 -7.52357226e-02 1.30551549e+02] [ 8.43657375e-02 3.84611084e-03 9.96427433e-01 2.31063538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:130.60, Z:23.11 [[ 5.01351005e-01 -8.64394155e-01 -3.83394622e-02 2.28455233e+02] [ 8.61125424e-01 5.02792749e-01 -7.52492856e-02 1.30595779e+02] [ 8.43218463e-02 4.71121934e-03 9.96427434e-01 2.31056294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.49, Y:130.64, Z:23.11 [[ 5.02140315e-01 -8.63937083e-01 -3.83121497e-02 2.28488290e+02] [ 8.60665996e-01 5.03576703e-01 -7.52631889e-02 1.30643699e+02] [ 8.43157659e-02 4.81871686e-03 9.96427434e-01 2.31089963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:130.69, Z:23.11 [[ 4.99734122e-01 -8.65332269e-01 -3.82867113e-02 2.28529455e+02] [ 8.62064217e-01 5.01177404e-01 -7.52761273e-02 1.30687139e+02] [ 8.43272966e-02 4.61244559e-03 9.96427435e-01 2.31090840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:130.73, Z:23.11 [[ 4.93898698e-01 -8.68676929e-01 -3.82683798e-02 2.28570612e+02] [ 8.65417954e-01 4.95362359e-01 -7.52854454e-02 1.30730800e+02] [ 8.43554444e-02 4.06524057e-03 9.96427435e-01 2.31124460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:228.61, Y:130.78, Z:23.12 [[ 4.86824543e-01 -8.72662301e-01 -3.82409744e-02 2.28610287e+02] [ 8.69414244e-01 4.88312275e-01 -7.52993634e-02 1.30776029e+02] [ 8.43844529e-02 3.41033034e-03 9.96427435e-01 2.31181027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:228.64, Y:130.82, Z:23.12 [[ 4.80400610e-01 -8.76216236e-01 -3.82146630e-02 2.28644577e+02] [ 8.72978143e-01 4.81909905e-01 -7.53127142e-02 1.30822670e+02] [ 8.44062476e-02 2.81970828e-03 9.96427436e-01 2.31215153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:130.87, Z:23.13 [[ 4.82417523e-01 -8.75108684e-01 -3.81853913e-02 2.28678563e+02] [ 8.71865960e-01 4.83916840e-01 -7.53275528e-02 1.30868468e+02] [ 8.43983495e-02 3.04678855e-03 9.96427436e-01 2.31321005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:228.71, Y:130.92, Z:23.15 [[ 4.96387988e-01 -8.67261606e-01 -3.81611321e-02 2.28708589e+02] [ 8.63994328e-01 4.97833014e-01 -7.53398406e-02 1.30917249e+02] [ 8.43372226e-02 4.42679020e-03 9.96427437e-01 2.31452094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:130.97, Z:23.15 [[ 5.01248360e-01 -8.64462730e-01 -3.81348915e-02 2.28736995e+02] [ 8.61186401e-01 5.02672746e-01 -7.53531205e-02 1.30966458e+02] [ 8.43093349e-02 4.92937807e-03 9.96427437e-01 2.31526564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:228.77, Y:131.01, Z:23.15 [[ 4.96062790e-01 -8.67449870e-01 -3.81107777e-02 2.28771033e+02] [ 8.64181208e-01 4.97504682e-01 -7.53653144e-02 1.31014299e+02] [ 8.43359226e-02 4.45131025e-03 9.96427437e-01 2.31548857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:131.06, Z:23.15 [[ 4.98204557e-01 -8.66222663e-01 -3.80856689e-02 2.28800599e+02] [ 8.62949496e-01 4.99636192e-01 -7.53780010e-02 1.31064850e+02] [ 8.43231113e-02 4.68765486e-03 9.96427438e-01 2.31531542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:228.83, Y:131.11, Z:23.15 [[ 5.04477497e-01 -8.62585677e-01 -3.80579073e-02 2.28833155e+02] [ 8.59301174e-01 5.05882928e-01 -7.53920151e-02 1.31114854e+02] [ 8.42849180e-02 5.33037065e-03 9.96427438e-01 2.31450029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:131.16, Z:23.15 [[ 5.04819806e-01 -8.62386594e-01 -3.80305852e-02 2.28869891e+02] [ 8.59100519e-01 5.06221556e-01 -7.54057949e-02 1.31160083e+02] [ 8.42808487e-02 5.39424329e-03 9.96427439e-01 2.31492963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:228.90, Y:131.21, Z:23.15 [[ 5.00434793e-01 -8.64939796e-01 -3.80022063e-02 2.28900275e+02] [ 8.61659816e-01 5.01850746e-01 -7.54200944e-02 1.31209769e+02] [ 8.43052766e-02 4.99786520e-03 9.96427439e-01 2.31531752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:228.94, Y:131.26, Z:23.17 [[ 4.89924559e-01 -8.70937355e-01 -3.79743263e-02 2.28937138e+02] [ 8.67673689e-01 4.91377717e-01 -7.54341295e-02 1.31255788e+02] [ 8.43581390e-02 4.00770882e-03 9.96427440e-01 2.31673971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15710568099996 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:131.30, Z:23.17 [[ 4.78306617e-01 -8.77372613e-01 -3.79483554e-02 2.28969626e+02] [ 8.74127520e-01 4.79800792e-01 -7.54471923e-02 1.31304335e+02] [ 8.44029513e-02 2.91518954e-03 9.96427440e-01 2.31711920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21710568099996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:229.00, Y:131.36, Z:23.18 [[ 4.62698615e-01 -8.85704240e-01 -3.79208568e-02 2.28995130e+02] [ 8.82484981e-01 4.64247665e-01 -7.54610111e-02 1.31355131e+02] [ 8.44408066e-02 1.45111870e-03 9.96427441e-01 2.31787380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27710568099997 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:229.02, Y:131.41, Z:23.19 [[ 4.58714842e-01 -8.87775266e-01 -3.78915785e-02 2.29021553e+02] [ 8.84561789e-01 4.60275850e-01 -7.54757099e-02 1.31406569e+02] [ 8.44460469e-02 1.10438586e-03 9.96427441e-01 2.31871414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33710568099997 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:131.46, Z:23.19 [[ 4.64867462e-01 -8.84570271e-01 -3.78639517e-02 2.29045584e+02] [ 8.81344911e-01 4.66403766e-01 -7.54895670e-02 1.31458021e+02] [ 8.44357163e-02 1.72144229e-03 9.96427442e-01 2.31936635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39710568099997 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:131.51, Z:23.20 [[ 4.71559915e-01 -8.81022069e-01 -3.78333323e-02 2.29065749e+02] [ 8.77783933e-01 4.73069102e-01 -7.55049095e-02 1.31512485e+02] [ 8.44192721e-02 2.39559745e-03 9.96427442e-01 2.31981825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:229.09, Y:131.57, Z:23.20 [[ 4.77939413e-01 -8.77578793e-01 -3.78071458e-02 2.29087101e+02] [ 8.74328766e-01 4.79422818e-01 -7.55180195e-02 1.31566913e+02] [ 8.43986208e-02 3.03716272e-03 9.96427443e-01 2.31996047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:229.11, Y:131.62, Z:23.20 [[ 4.81577102e-01 -8.75588989e-01 -3.77811773e-02 2.29108101e+02] [ 8.72331826e-01 4.83044772e-01 -7.55310092e-02 1.31621441e+02] [ 8.43841201e-02 3.41628113e-03 9.96427443e-01 2.32020954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:131.68, Z:23.20 [[ 4.84427810e-01 -8.74016219e-01 -3.77537433e-02 2.29128790e+02] [ 8.70753236e-01 4.85882493e-01 -7.55447195e-02 1.31675682e+02] [ 8.43711930e-02 3.72176886e-03 9.96427444e-01 2.32027646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:229.15, Y:131.73, Z:23.20 [[ 4.85347513e-01 -8.73507053e-01 -3.77255742e-02 2.29152779e+02] [ 8.70241462e-01 4.86796331e-01 -7.55587840e-02 1.31728853e+02] [ 8.43658018e-02 3.84190913e-03 9.96427444e-01 2.32047759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:131.78, Z:23.21 [[ 4.88894307e-01 -8.71528107e-01 -3.76976830e-02 2.29179331e+02] [ 8.68255597e-01 4.90327426e-01 -7.55726969e-02 1.31779419e+02] [ 8.43479374e-02 4.21583700e-03 9.96427445e-01 2.32053689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:229.21, Y:131.83, Z:23.21 [[ 4.88792771e-01 -8.71586314e-01 -3.76686043e-02 2.29205913e+02] [ 8.68312872e-01 4.90223759e-01 -7.55871882e-02 1.31829722e+02] [ 8.43468036e-02 4.23833718e-03 9.96427445e-01 2.32065575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817105681 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:131.88, Z:23.21 [[ 4.85957229e-01 -8.73171297e-01 -3.76491497e-02 2.29234509e+02] [ 8.69901783e-01 4.87397169e-01 -7.55968771e-02 1.31880638e+02] [ 8.43591122e-02 3.98578650e-03 9.96427445e-01 2.32053372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877105681 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:229.27, Y:131.93, Z:23.22 [[ 4.88483717e-01 -8.71761578e-01 -3.76219307e-02 2.29268052e+02] [ 8.68486881e-01 4.89911830e-01 -7.56104207e-02 1.31927853e+02] [ 8.43456886e-02 4.26030601e-03 9.96427446e-01 2.32195164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:131.98, Z:23.23 [[ 4.85141320e-01 -8.73627338e-01 -3.75922003e-02 2.29293962e+02] [ 8.70357006e-01 4.86579398e-01 -7.56251993e-02 1.31979609e+02] [ 8.43598318e-02 3.97027407e-03 9.96427446e-01 2.32259355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:132.03, Z:23.23 [[ 4.85168545e-01 -8.73613446e-01 -3.75636659e-02 2.29321258e+02] [ 8.70341988e-01 4.86604058e-01 -7.56393700e-02 1.32030335e+02] [ 8.43582030e-02 4.00460742e-03 9.96427447e-01 2.32334907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:229.35, Y:132.08, Z:23.24 [[ 4.83741610e-01 -8.74405717e-01 -3.75326169e-02 2.29351583e+02] [ 8.71135428e-01 4.85179783e-01 -7.56547736e-02 1.32080294e+02] [ 8.43630334e-02 3.90136972e-03 9.96427447e-01 2.32385853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11710568099994 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:229.38, Y:132.13, Z:23.24 [[ 4.86935841e-01 -8.72632102e-01 -3.75060287e-02 2.29377286e+02] [ 8.69355576e-01 4.88359748e-01 -7.56679525e-02 1.32131643e+02] [ 8.43467191e-02 4.23936289e-03 9.96427448e-01 2.32381647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:229.40, Y:132.18, Z:23.25 [[ 4.91374189e-01 -8.70141625e-01 -3.74827666e-02 2.29404589e+02] [ 8.66857027e-01 4.92779374e-01 -7.56794738e-02 1.32182523e+02] [ 8.43225946e-02 4.69474050e-03 9.96427448e-01 2.32454542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:132.23, Z:23.25 [[ 4.93638683e-01 -8.68860246e-01 -3.74529454e-02 2.29431237e+02] [ 8.65570903e-01 4.95032722e-01 -7.56942292e-02 1.32232564e+02] [ 8.43081401e-02 4.94741979e-03 9.96427449e-01 2.32493198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:229.46, Y:132.28, Z:23.25 [[ 4.94943675e-01 -8.68118883e-01 -3.74214421e-02 2.29463394e+02] [ 8.64826297e-01 4.96330034e-01 -7.57098005e-02 1.32281349e+02] [ 8.42984931e-02 5.10903971e-03 9.96427449e-01 2.32532739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:132.33, Z:23.26 [[ 4.92724483e-01 -8.69381595e-01 -3.73928610e-02 2.29493168e+02] [ 8.66091512e-01 4.94116770e-01 -7.57239141e-02 1.32330993e+02] [ 8.43094169e-02 4.92538685e-03 9.96427450e-01 2.32576830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:229.53, Y:132.38, Z:23.26 [[ 4.97037722e-01 -8.66924068e-01 -3.73652645e-02 2.29528075e+02] [ 8.63626108e-01 4.98411248e-01 -7.57375289e-02 1.32378158e+02] [ 8.42819548e-02 5.37479088e-03 9.96427450e-01 2.32607486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:132.43, Z:23.26 [[ 4.97911523e-01 -8.66423708e-01 -3.73373017e-02 2.29559422e+02] [ 8.63123356e-01 4.99279291e-01 -7.57513116e-02 1.32427323e+02] [ 8.42744738e-02 5.49075374e-03 9.96427451e-01 2.32642263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:132.47, Z:23.27 [[ 4.95204878e-01 -8.67974701e-01 -3.73101587e-02 2.29594364e+02] [ 8.64677650e-01 4.96580582e-01 -7.57646782e-02 1.32474300e+02] [ 8.42893242e-02 5.25777787e-03 9.96427451e-01 2.32743479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:229.63, Y:132.52, Z:23.28 [[ 4.87914414e-01 -8.72094876e-01 -3.72833978e-02 2.29626052e+02] [ 8.68808481e-01 4.89315381e-01 -7.57778448e-02 1.32523320e+02] [ 8.43288102e-02 4.58097053e-03 9.96427452e-01 2.32792890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:132.57, Z:23.28 [[ 4.79497347e-01 -8.76752258e-01 -3.72528135e-02 2.29658054e+02] [ 8.73478348e-01 4.80927245e-01 -7.57928773e-02 1.32571678e+02] [ 8.43674693e-02 3.80295757e-03 9.96427452e-01 2.32839481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:229.69, Y:132.62, Z:23.29 [[ 4.63947755e-01 -8.85080056e-01 -3.72259970e-02 2.29689826e+02] [ 8.81830845e-01 4.65432922e-01 -7.58060461e-02 1.32620122e+02] [ 8.44206241e-02 2.34301261e-03 9.96427453e-01 2.32900478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77710568099997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:132.67, Z:23.30 [[ 4.53248676e-01 -8.90607695e-01 -3.71963833e-02 2.29718298e+02] [ 8.87375429e-01 4.54770369e-01 -7.58205742e-02 1.32668951e+02] [ 8.44421997e-02 1.35841829e-03 9.96427453e-01 2.32967389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83710568099997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:132.72, Z:23.30 [[ 4.49929564e-01 -8.92290305e-01 -3.71671738e-02 2.29743134e+02] [ 8.89062549e-01 4.51460799e-01 -7.58348900e-02 1.32718933e+02] [ 8.44462591e-02 1.07641674e-03 9.96427454e-01 2.33008796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.77, Y:132.77, Z:23.30 [[ 4.56778601e-01 -8.88805038e-01 -3.71337407e-02 2.29767020e+02] [ 8.85564277e-01 4.58282115e-01 -7.58512576e-02 1.32771174e+02] [ 8.44347091e-02 1.76291710e-03 9.96427454e-01 2.33013369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:229.79, Y:132.82, Z:23.31 [[ 4.61699446e-01 -8.86260209e-01 -3.71007331e-02 2.29792538e+02] [ 8.83009874e-01 4.63182146e-01 -7.58673990e-02 1.32822873e+02] [ 8.44226541e-02 2.26762240e-03 9.96427455e-01 2.33063160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:132.87, Z:23.31 [[ 4.72065708e-01 -8.80783536e-01 -3.70719518e-02 2.29817142e+02] [ 8.77514937e-01 4.73507697e-01 -7.58814602e-02 1.32873709e+02] [ 8.43889954e-02 3.28984374e-03 9.96427456e-01 2.33111605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:229.84, Y:132.93, Z:23.31 [[ 4.81567581e-01 -8.75625749e-01 -3.70433942e-02 2.29841292e+02] [ 8.72340684e-01 4.82971654e-01 -7.58953988e-02 1.32925294e+02] [ 8.43468748e-02 4.23430376e-03 9.96427456e-01 2.33147373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:229.87, Y:132.98, Z:23.32 [[ 4.86188863e-01 -8.73069495e-01 -3.70141366e-02 2.29868395e+02] [ 8.69775990e-01 4.87573020e-01 -7.59096651e-02 1.32976368e+02] [ 8.43215073e-02 4.71242649e-03 9.96427457e-01 2.33182774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.89, Y:133.03, Z:23.32 [[ 4.87730256e-01 -8.72210500e-01 -3.69870293e-02 2.29894639e+02] [ 8.68913575e-01 4.89106244e-01 -7.59228709e-02 1.33028503e+02] [ 8.43113121e-02 4.89134945e-03 9.96427457e-01 2.33156485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.93, Y:133.08, Z:23.32 [[ 4.82842486e-01 -8.74927024e-01 -3.69572143e-02 2.29927132e+02] [ 8.71636758e-01 4.84234320e-01 -7.59373813e-02 1.33075927e+02] [ 8.43356186e-02 4.45252746e-03 9.96427458e-01 2.33215705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:133.13, Z:23.32 [[ 4.77518048e-01 -8.77845190e-01 -3.69369246e-02 2.29954443e+02] [ 8.74562688e-01 4.78928095e-01 -7.59472492e-02 1.33126531e+02] [ 8.43600584e-02 3.96252607e-03 9.96427458e-01 2.33204648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.99, Y:133.17, Z:23.33 [[ 4.78937156e-01 -8.77072724e-01 -3.69139245e-02 2.29988596e+02] [ 8.73787097e-01 4.80339908e-01 -7.59584267e-02 1.33174747e+02] [ 8.43522953e-02 4.12440192e-03 9.96427458e-01 2.33258428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.02, Y:133.23, Z:23.34 [[ 4.77318683e-01 -8.77955723e-01 -3.68866254e-02 2.30016335e+02] [ 8.74671680e-01 4.78725136e-01 -7.59716813e-02 1.33225595e+02] [ 8.43583272e-02 3.99901626e-03 9.96427459e-01 2.33369529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.05, Y:133.27, Z:23.35 [[ 4.73039810e-01 -8.80269721e-01 -3.68586161e-02 2.30051963e+02] [ 8.76991516e-01 4.74459818e-01 -7.59852680e-02 1.33272358e+02] [ 8.43754629e-02 3.61936310e-03 9.96427459e-01 2.33503068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.08, Y:133.32, Z:23.35 [[ 4.70792112e-01 -8.81474998e-01 -3.68322515e-02 2.30078878e+02] [ 8.78199440e-01 4.72218213e-01 -7.59980456e-02 1.33322289e+02] [ 8.43832371e-02 3.43321775e-03 9.96427460e-01 2.33548797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:230.11, Y:133.37, Z:23.36 [[ 4.67525887e-01 -8.83212555e-01 -3.68120650e-02 2.30108153e+02] [ 8.79941536e-01 4.68962369e-01 -7.60078223e-02 1.33372234e+02] [ 8.43945361e-02 3.14315946e-03 9.96427460e-01 2.33598398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:230.14, Y:133.42, Z:23.36 [[ 4.60737890e-01 -8.86773567e-01 -3.67863823e-02 2.30138344e+02] [ 8.83512678e-01 4.62197219e-01 -7.60202502e-02 1.33422226e+02] [ 8.44153121e-02 2.52417449e-03 9.96427460e-01 2.33637292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:133.47, Z:23.37 [[ 4.50612092e-01 -8.91962646e-01 -3.67611275e-02 2.30166332e+02] [ 8.88717592e-01 4.52106301e-01 -7.60324608e-02 1.33473283e+02] [ 8.44380523e-02 1.59088550e-03 9.96427461e-01 2.33676882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:230.20, Y:133.52, Z:23.37 [[ 4.40926895e-01 -8.96790957e-01 -3.67349039e-02 2.30196324e+02] [ 8.93561222e-01 4.42453932e-01 -7.60451286e-02 1.33521945e+02] [ 8.44500863e-02 7.05456800e-04 9.96427461e-01 2.33741061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:133.57, Z:23.38 [[ 4.28189748e-01 -9.02943160e-01 -3.67040915e-02 2.30223108e+02] [ 8.99734091e-01 4.29759750e-01 -7.60599977e-02 1.33572337e+02] [ 8.44517959e-02 -4.55811139e-04 9.96427462e-01 2.33844854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.25, Y:133.62, Z:23.39 [[ 4.22962355e-01 -9.05404806e-01 -3.66740078e-02 2.30246473e+02] [ 9.02203615e-01 4.24548357e-01 -7.60745006e-02 1.33624281e+02] [ 8.44481082e-02 -9.10772460e-04 9.96427462e-01 2.33876688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:230.27, Y:133.68, Z:23.40 [[ 4.27855256e-01 -9.03104145e-01 -3.66439925e-02 2.30268962e+02] [ 8.99893185e-01 4.29421385e-01 -7.60889558e-02 1.33675875e+02] [ 8.44519654e-02 -4.20619495e-04 9.96427463e-01 2.33996525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:133.73, Z:23.40 [[ 4.48275154e-01 -8.93145376e-01 -3.66158885e-02 2.30283941e+02] [ 8.89898544e-01 4.49765488e-01 -7.61024778e-02 1.33731856e+02] [ 8.44391391e-02 1.53042405e-03 9.96427463e-01 2.34015472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:133.78, Z:23.41 [[ 4.57747692e-01 -8.88328776e-01 -3.65928292e-02 2.30306176e+02] [ 8.85065400e-01 4.59201442e-01 -7.61135639e-02 1.33784545e+02] [ 8.44173490e-02 2.45376125e-03 9.96427464e-01 2.34062912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15710568099996 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:133.84, Z:23.41 [[ 4.57957308e-01 -8.88222097e-01 -3.65596826e-02 2.30333155e+02] [ 8.84957116e-01 4.59407450e-01 -7.61294820e-02 1.33835125e+02] [ 8.44156787e-02 2.51030139e-03 9.96427464e-01 2.34066003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21710568099996 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:133.89, Z:23.41 [[ 4.53604251e-01 -8.90454145e-01 -3.65321634e-02 2.30358208e+02] [ 8.87195245e-01 4.55068005e-01 -7.61426853e-02 1.33887670e+02] [ 8.44261885e-02 2.12748407e-03 9.96427465e-01 2.34072527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27710568099997 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:133.94, Z:23.41 [[ 4.47722601e-01 -8.93426982e-01 -3.65061650e-02 2.30385333e+02] [ 8.90176794e-01 4.49205598e-01 -7.61551481e-02 1.33938988e+02] [ 8.44378379e-02 1.59944000e-03 9.96427465e-01 2.34116798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33710568099997 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:133.99, Z:23.42 [[ 4.38634741e-01 -8.97924783e-01 -3.64780539e-02 2.30410338e+02] [ 8.94688693e-01 4.40148254e-01 -7.61686109e-02 1.33991344e+02] [ 8.44494352e-02 7.73696505e-04 9.96427466e-01 2.34194067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39710568099997 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:230.43, Y:134.04, Z:23.42 [[ 4.32003200e-01 -9.01135161e-01 -3.64507445e-02 2.30431711e+02] [ 8.97909218e-01 4.33538221e-01 -7.61816777e-02 1.34044132e+02] [ 8.44527793e-02 1.81269149e-04 9.96427466e-01 2.34214142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457105681 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:230.45, Y:134.10, Z:23.43 [[ 4.33718243e-01 -9.00312193e-01 -3.64203254e-02 2.30452454e+02] [ 8.97082116e-01 4.35244544e-01 -7.61962175e-02 1.34097076e+02] [ 8.44521317e-02 3.75667032e-04 9.96427467e-01 2.34307918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517105681 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:134.15, Z:23.43 [[ 4.40857024e-01 -8.96839367e-01 -3.63900230e-02 2.30466630e+02] [ 8.93596077e-01 4.42355041e-01 -7.62106867e-02 1.34153933e+02] [ 8.44460542e-02 1.08003473e-03 9.96427467e-01 2.34343548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577105681 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:230.48, Y:134.21, Z:23.45 [[ 4.57537897e-01 -8.88446428e-01 -3.63595612e-02 2.30479380e+02] [ 8.85174568e-01 4.58972440e-01 -7.62252171e-02 1.34211482e+02] [ 8.44100584e-02 2.69136669e-03 9.96427468e-01 2.34484298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637105681 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:230.50, Y:134.27, Z:23.45 [[ 4.61673797e-01 -8.86305408e-01 -3.63322018e-02 2.30501207e+02] [ 8.83025881e-01 4.63090727e-01 -7.62382556e-02 1.34265530e+02] [ 8.43954840e-02 3.11493045e-03 9.96427468e-01 2.34539235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697105681 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:134.32, Z:23.46 [[ 4.52009698e-01 -8.91274032e-01 -3.63019804e-02 2.30524958e+02] [ 8.88008958e-01 4.53459619e-01 -7.62526433e-02 1.34317325e+02] [ 8.44234830e-02 2.23045050e-03 9.96427469e-01 2.34578578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757105681 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:230.55, Y:134.37, Z:23.46 [[ 4.44866953e-01 -8.94861917e-01 -3.62704213e-02 2.30550256e+02] [ 8.91607326e-01 4.46340253e-01 -7.62676518e-02 1.34367282e+02] [ 8.44379662e-02 1.58998452e-03 9.96427469e-01 2.34605624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817105681 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:134.42, Z:23.46 [[ 4.39310957e-01 -8.97603829e-01 -3.62387766e-02 2.30574655e+02] [ 8.94357199e-01 4.40801716e-01 -7.62826850e-02 1.34420079e+02] [ 8.44457451e-02 1.10140862e-03 9.96427470e-01 2.34646816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:134.47, Z:23.46 [[ 4.27468777e-01 -9.03304618e-01 -3.62106679e-02 2.30601133e+02] [ 9.00076746e-01 4.28999729e-01 -7.62960257e-02 1.34471313e+02] [ 8.44529190e-02 2.17886711e-05 9.96427471e-01 2.34638148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937105681 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:134.52, Z:23.47 [[ 4.17606235e-01 -9.07907353e-01 -3.61838515e-02 2.30627960e+02] [ 9.04695248e-01 4.19169995e-01 -7.63087414e-02 1.34522027e+02] [ 8.44484523e-02 -8.68352275e-04 9.96427471e-01 2.34654419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:230.65, Y:134.57, Z:23.47 [[ 4.17839966e-01 -9.07801114e-01 -3.61510674e-02 2.30651637e+02] [ 9.04587268e-01 4.19400143e-01 -7.63242697e-02 1.34573958e+02] [ 8.44490199e-02 -8.10465049e-04 9.96427472e-01 2.34706058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:230.67, Y:134.63, Z:23.47 [[ 4.28637937e-01 -9.02754116e-01 -3.61182170e-02 2.30668345e+02] [ 8.99520584e-01 4.30156893e-01 -7.63398121e-02 1.34628989e+02] [ 8.44525795e-02 2.33059934e-04 9.96427472e-01 2.34705315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:230.69, Y:134.68, Z:23.48 [[ 4.41353906e-01 -8.96606964e-01 -3.60926851e-02 2.30686935e+02] [ 8.93351305e-01 4.42824837e-01 -7.63518814e-02 1.34683207e+02] [ 8.44403660e-02 1.45475384e-03 9.96427473e-01 2.34846853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:230.71, Y:134.74, Z:23.49 [[ 4.47508363e-01 -8.93552327e-01 -3.60625024e-02 2.30705189e+02] [ 8.90285490e-01 4.48954297e-01 -7.63661347e-02 1.34737990e+02] [ 8.44275527e-02 2.06856131e-03 9.96427473e-01 2.34858738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:134.79, Z:23.50 [[ 4.47915862e-01 -8.93348953e-01 -3.60420509e-02 2.30729128e+02] [ 8.90080685e-01 4.49358558e-01 -7.63757859e-02 1.34790444e+02] [ 8.44260323e-02 2.12959264e-03 9.96427473e-01 2.34970284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:230.75, Y:134.85, Z:23.51 [[ 4.47132126e-01 -8.93742641e-01 -3.60132326e-02 2.30749224e+02] [ 8.90474553e-01 4.48575227e-01 -7.63893721e-02 1.34845180e+02] [ 8.44270832e-02 2.08727516e-03 9.96427474e-01 2.35076969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:230.77, Y:134.90, Z:23.51 [[ 4.47090929e-01 -8.93764360e-01 -3.59857001e-02 2.30770945e+02] [ 8.90495301e-01 4.48531829e-01 -7.64023400e-02 1.34899056e+02] [ 8.44264204e-02 2.11369633e-03 9.96427474e-01 2.35111789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:134.95, Z:23.51 [[ 4.40667472e-01 -8.96949972e-01 -3.59572988e-02 2.30795538e+02] [ 8.93690249e-01 4.42129369e-01 -7.64157043e-02 1.34951921e+02] [ 8.44388416e-02 1.53922791e-03 9.96427475e-01 2.35125532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:135.00, Z:23.51 [[ 4.27773907e-01 -9.03171458e-01 -3.59277225e-02 2.30820922e+02] [ 8.99931847e-01 4.29279845e-01 -7.64296074e-02 1.35003505e+02] [ 8.44520872e-02 3.62090127e-04 9.96427475e-01 2.35119915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:135.05, Z:23.52 [[ 4.14955566e-01 -9.09133374e-01 -3.58940922e-02 2.30850772e+02] [ 9.05914028e-01 4.16504352e-01 -7.64453982e-02 1.35053004e+02] [ 8.44491084e-02 -7.95518139e-04 9.96427476e-01 2.35157968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:230.88, Y:135.10, Z:23.52 [[ 4.09791484e-01 -9.11474021e-01 -3.58615096e-02 2.30877672e+02] [ 9.08262181e-01 4.11355776e-01 -7.64606802e-02 1.35104245e+02] [ 8.44437627e-02 -1.23871728e-03 9.96427477e-01 2.35227077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:230.90, Y:135.16, Z:23.53 [[ 4.06861431e-01 -9.12786867e-01 -3.58317059e-02 2.30897458e+02] [ 9.09578845e-01 4.08433536e-01 -7.64746445e-02 1.35156644e+02] [ 8.44399215e-02 -1.47717840e-03 9.96427477e-01 2.35285896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71710568099996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:135.21, Z:23.55 [[ 4.09370858e-01 -9.11665462e-01 -3.57992394e-02 2.30913894e+02] [ 9.08451805e-01 4.10931409e-01 -7.64898397e-02 1.35211831e+02] [ 8.44441770e-02 -1.20917237e-03 9.96427478e-01 2.35450816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77710568099997 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:135.26, Z:23.55 [[ 4.14580907e-01 -9.09309188e-01 -3.57697083e-02 2.30933092e+02] [ 9.06085466e-01 4.16120559e-01 -7.65036472e-02 1.35264709e+02] [ 8.44499804e-02 -6.93461385e-04 9.96427479e-01 2.35544723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83710568099997 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:230.95, Y:135.32, Z:23.56 [[ 4.30685852e-01 -9.01793586e-01 -3.57494808e-02 2.30946473e+02] [ 8.98542212e-01 4.32166216e-01 -7.65130982e-02 1.35322175e+02] [ 8.44487391e-02 8.30691304e-04 9.96427479e-01 2.35599672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89710568099997 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:230.96, Y:135.38, Z:23.55 [[ 4.42668295e-01 -8.95973680e-01 -3.57203782e-02 2.30962348e+02] [ 8.92701773e-01 4.44102704e-01 -7.65266825e-02 1.35380161e+02] [ 8.44294099e-02 1.98829114e-03 9.96427479e-01 2.35533529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:135.44, Z:23.55 [[ 4.44391776e-01 -8.95121268e-01 -3.56912414e-02 2.30979172e+02] [ 8.91845523e-01 4.45817396e-01 -7.65402692e-02 1.35436095e+02] [ 8.44245992e-02 2.18279232e-03 9.96427480e-01 2.35521021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:135.49, Z:23.56 [[ 4.40204449e-01 -8.97189050e-01 -3.56630196e-02 2.31001489e+02] [ 8.93918943e-01 4.41642953e-01 -7.65534166e-02 1.35489035e+02] [ 8.44332085e-02 1.81930586e-03 9.96427480e-01 2.35616871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:231.02, Y:135.54, Z:23.56 [[ 4.30431530e-01 -9.01919516e-01 -3.56354343e-02 2.31024105e+02] [ 8.98664170e-01 4.31903134e-01 -7.65662554e-02 1.35542154e+02] [ 8.44476558e-02 9.32242525e-04 9.96427481e-01 2.35603387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137105681 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:135.60, Z:23.56 [[ 4.22781352e-01 -9.05531616e-01 -3.56148845e-02 2.31048003e+02] [ 9.02288042e-01 4.24278722e-01 -7.65758130e-02 1.35595620e+02] [ 8.44524574e-02 2.39941428e-04 9.96427481e-01 2.35616168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197105681 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:231.07, Y:135.65, Z:23.56 [[ 4.18855296e-01 -9.07355514e-01 -3.55838649e-02 2.31069880e+02] [ 9.04117235e-01 4.20364083e-01 -7.65902248e-02 1.35648494e+02] [ 8.44527415e-02 -9.17642170e-05 9.96427482e-01 2.35644541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:135.70, Z:23.57 [[ 4.18024563e-01 -9.07739222e-01 -3.55664267e-02 2.31093281e+02] [ 9.04501639e-01 4.19534841e-01 -7.65983218e-02 1.35700428e+02] [ 8.44526562e-02 -1.49911250e-04 9.96427482e-01 2.35716049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:135.76, Z:23.57 [[ 4.13254738e-01 -9.09921834e-01 -3.55355698e-02 2.31111085e+02] [ 9.06690996e-01 4.14779390e-01 -7.66126343e-02 1.35756110e+02] [ 8.44509307e-02 -5.59246988e-04 9.96427482e-01 2.35724926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:135.81, Z:23.58 [[ 4.11510495e-01 -9.10713136e-01 -3.55062977e-02 2.31129887e+02] [ 9.07484058e-01 4.13038872e-01 -7.66261982e-02 1.35810280e+02] [ 8.44499664e-02 -6.88914387e-04 9.96427483e-01 2.35837712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437105681 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:135.87, Z:23.59 [[ 4.00581424e-01 -9.15574088e-01 -3.54769128e-02 2.31147700e+02] [ 9.12362336e-01 4.02145880e-01 -7.66398007e-02 1.35865993e+02] [ 8.44363099e-02 -1.66731852e-03 9.96427483e-01 2.35881484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:135.92, Z:23.60 [[ 3.82032931e-01 -9.23468608e-01 -3.54481177e-02 2.31160450e+02] [ 9.20287844e-01 3.83659464e-01 -7.66531169e-02 1.35923856e+02] [ 8.43867530e-02 -3.33845682e-03 9.96427484e-01 2.35961986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:135.98, Z:23.60 [[ 3.76165949e-01 -9.25875092e-01 -3.54188267e-02 2.31175751e+02] [ 9.22703457e-01 3.77810211e-01 -7.66666490e-02 1.35980221e+02] [ 8.43653351e-02 -3.84169111e-03 9.96427484e-01 2.36046676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:136.04, Z:23.60 [[ 3.76729019e-01 -9.25647265e-01 -3.53890835e-02 2.31184118e+02] [ 9.22473360e-01 3.78368894e-01 -7.66803759e-02 1.36040995e+02] [ 8.43691087e-02 -3.75776394e-03 9.96427485e-01 2.36025799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:231.20, Y:136.10, Z:23.61 [[ 3.75708979e-01 -9.26062856e-01 -3.53602963e-02 2.31197596e+02] [ 9.22889529e-01 3.77349972e-01 -7.66936486e-02 1.36098289e+02] [ 8.43663460e-02 -3.81915487e-03 9.96427485e-01 2.36098759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:136.16, Z:23.61 [[ 3.72446538e-01 -9.27380862e-01 -3.53314712e-02 2.31206084e+02] [ 9.24212094e-01 3.74096315e-01 -7.67069256e-02 1.36157231e+02] [ 8.43539080e-02 -4.08454406e-03 9.96427486e-01 2.36123170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:136.22, Z:23.62 [[ 3.71576347e-01 -9.27731103e-01 -3.52989998e-02 2.31213030e+02] [ 9.24562489e-01 3.73226419e-01 -7.67218654e-02 1.36216724e+02] [ 8.43517801e-02 -4.12810060e-03 9.96427487e-01 2.36176446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:136.28, Z:23.63 [[ 3.78413757e-01 -9.24964463e-01 -3.52671384e-02 2.31213597e+02] [ 9.21782409e-01 3.80037759e-01 -7.67365086e-02 1.36279291e+02] [ 8.43813877e-02 -3.47047721e-03 9.96427487e-01 2.36307823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:136.34, Z:23.63 [[ 3.86386010e-01 -9.21663762e-01 -3.52386444e-02 2.31211731e+02] [ 9.18466623e-01 3.87980107e-01 -7.67495913e-02 1.36344052e+02] [ 8.44092100e-02 -2.71055041e-03 9.96427488e-01 2.36304250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:136.40, Z:23.63 [[ 3.98171315e-01 -9.16635057e-01 -3.52104626e-02 2.31219023e+02] [ 9.13416605e-01 3.99721931e-01 -7.67625181e-02 1.36404501e+02] [ 8.44376093e-02 -1.59718840e-03 9.96427488e-01 2.36342184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:136.47, Z:23.64 [[ 4.09471497e-01 -9.11644309e-01 -3.51816210e-02 2.31222127e+02] [ 9.08405804e-01 4.10979782e-01 -7.67757345e-02 1.36466131e+02] [ 8.44510964e-02 -5.21713755e-04 9.96427489e-01 2.36375193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:136.52, Z:23.65 [[ 4.20998800e-01 -9.06379822e-01 -3.51515193e-02 2.31233521e+02] [ 9.03121304e-01 4.22463348e-01 -7.67895141e-02 1.36524074e+02] [ 8.44506946e-02 5.82207367e-04 9.96427489e-01 2.36470466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:136.58, Z:23.65 [[ 4.27223807e-01 -9.03463500e-01 -3.51215524e-02 2.31249762e+02] [ 9.00193863e-01 4.28663358e-01 -7.68032178e-02 1.36579346e+02] [ 8.44442265e-02 1.19595718e-03 9.96427490e-01 2.36506832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:136.63, Z:23.64 [[ 4.34497796e-01 -8.99988996e-01 -3.50923395e-02 2.31273905e+02] [ 8.96706782e-01 4.35908434e-01 -7.68165632e-02 1.36632727e+02] [ 8.44311084e-02 1.90908863e-03 9.96427490e-01 2.36439287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.30, Y:136.69, Z:23.64 [[ 4.41600187e-01 -8.96526544e-01 -3.50632318e-02 2.31298711e+02] [ 8.93232234e-01 4.42982337e-01 -7.68298473e-02 1.36685331e+02] [ 8.44123899e-02 2.60846611e-03 9.96427491e-01 2.36436225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.33, Y:136.74, Z:23.65 [[ 4.49874115e-01 -8.92404526e-01 -3.50348697e-02 2.31327401e+02] [ 8.89096577e-01 4.51223297e-01 -7.68427785e-02 1.36735309e+02] [ 8.43833927e-02 3.42019421e-03 9.96427491e-01 2.36523495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:136.78, Z:23.66 [[ 4.54558041e-01 -8.90028926e-01 -3.50071215e-02 2.31359591e+02] [ 8.86712973e-01 4.55887429e-01 -7.68554176e-02 1.36784453e+02] [ 8.43628514e-02 3.89397921e-03 9.96427492e-01 2.36605612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:136.83, Z:23.66 [[ 4.53843537e-01 -8.90394568e-01 -3.49793931e-02 2.31398963e+02] [ 8.87078725e-01 4.55173198e-01 -7.68680357e-02 1.36830370e+02] [ 8.43645636e-02 3.85658574e-03 9.96427492e-01 2.36612408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:136.88, Z:23.67 [[ 4.51704511e-01 -8.91482747e-01 -3.49506152e-02 2.31434573e+02] [ 8.88169109e-01 4.53039654e-01 -7.68811183e-02 1.36877062e+02] [ 8.43722052e-02 3.68549120e-03 9.96427493e-01 2.36693525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:136.92, Z:23.68 [[ 4.45033628e-01 -8.94832593e-01 -3.49241976e-02 2.31472096e+02] [ 8.91528087e-01 4.46391217e-01 -7.68931170e-02 1.36923735e+02] [ 8.43963224e-02 3.08411977e-03 9.96427493e-01 2.36769652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:136.97, Z:23.68 [[ 4.34061868e-01 -9.00206978e-01 -3.48954286e-02 2.31505048e+02] [ 8.96918272e-01 4.35457293e-01 -7.69061707e-02 1.36972438e+02] [ 8.44269405e-02 2.08368857e-03 9.96427494e-01 2.36773301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:137.02, Z:23.68 [[ 4.30108875e-01 -9.02103412e-01 -3.48681682e-02 2.31532322e+02] [ 8.98819862e-01 4.31516390e-01 -7.69185282e-02 1.37024008e+02] [ 8.44346529e-02 1.74313949e-03 9.96427494e-01 2.36804855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:137.07, Z:23.68 [[ 4.13974631e-01 -9.09621481e-01 -3.48391457e-02 2.31567376e+02] [ 9.06362416e-01 4.15437947e-01 -7.69316714e-02 1.37071855e+02] [ 8.44522040e-02 2.70867978e-04 9.96427495e-01 2.36817884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.60, Y:137.12, Z:23.69 [[ 4.00107446e-01 -9.15806854e-01 -3.48114686e-02 2.31597950e+02] [ 9.12569312e-01 4.01617782e-01 -7.69441933e-02 1.37120973e+02] [ 8.44469243e-02 -9.81933271e-04 9.96427495e-01 2.36925443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877105681 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:137.17, Z:23.70 [[ 3.91308670e-01 -9.19601953e-01 -3.47817968e-02 2.31622189e+02] [ 9.16377855e-01 3.92847494e-01 -7.69576038e-02 1.37172922e+02] [ 8.44343044e-02 -1.75909079e-03 9.96427496e-01 2.36993023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:231.64, Y:137.23, Z:23.72 [[ 3.84019812e-01 -9.22670623e-01 -3.47520506e-02 2.31639576e+02] [ 9.19457597e-01 3.85581621e-01 -7.69710341e-02 1.37227294e+02] [ 8.44186640e-02 -2.39463491e-03 9.96427496e-01 2.37167647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.65, Y:137.28, Z:23.72 [[ 3.75597791e-01 -9.26131681e-01 -3.47333925e-02 2.31654130e+02] [ 9.22932248e-01 3.77187260e-01 -7.69794527e-02 1.37284062e+02] [ 8.43941031e-02 -3.14325559e-03 9.96427496e-01 2.37210042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:137.34, Z:23.72 [[ 3.66326638e-01 -9.29838958e-01 -3.47031164e-02 2.31662236e+02] [ 9.26654293e-01 3.67945491e-01 -7.69930991e-02 1.37343740e+02] [ 8.43600383e-02 -3.95316862e-03 9.96427497e-01 2.37232558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:137.40, Z:23.73 [[ 3.57193944e-01 -9.33386461e-01 -3.46727782e-02 2.31669824e+02] [ 9.30216521e-01 3.58841445e-01 -7.70067591e-02 1.37404010e+02] [ 8.43190962e-02 -4.74684310e-03 9.96427497e-01 2.37273079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:137.46, Z:23.73 [[ 3.45809458e-01 -9.37665018e-01 -3.46429280e-02 2.31675170e+02] [ 9.34514058e-01 3.47492973e-01 -7.70201855e-02 1.37464834e+02] [ 8.42573077e-02 -5.73999460e-03 9.96427498e-01 2.37289814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:137.53, Z:23.73 [[ 3.37556920e-01 -9.40668224e-01 -3.46210707e-02 2.31677186e+02] [ 9.37531209e-01 3.39266280e-01 -7.70300093e-02 1.37527747e+02] [ 8.42054439e-02 -6.45632160e-03 9.96427498e-01 2.37327769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:137.59, Z:23.74 [[ 3.30257382e-01 -9.43256822e-01 -3.45923342e-02 2.31682050e+02] [ 9.40131858e-01 3.31988672e-01 -7.70429120e-02 1.37589225e+02] [ 8.41555155e-02 -7.07736503e-03 9.96427499e-01 2.37414598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:137.65, Z:23.75 [[ 3.34678553e-01 -9.41698205e-01 -3.45652468e-02 2.31683212e+02] [ 9.38563951e-01 3.36392966e-01 -7.70550629e-02 1.37652168e+02] [ 8.41901203e-02 -6.65301768e-03 9.96427499e-01 2.37451293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.69, Y:137.71, Z:23.75 [[ 3.47109876e-01 -9.37188310e-01 -3.45370249e-02 2.31687046e+02] [ 9.34030423e-01 3.48780358e-01 -7.70677103e-02 1.37711992e+02] [ 8.42727930e-02 -5.50766859e-03 9.96427500e-01 2.37522306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:137.78, Z:23.75 [[ 3.87534976e-01 -9.21208922e-01 -3.45074541e-02 2.31670423e+02] [ 9.17980210e-01 3.89064085e-01 -7.70809485e-02 1.37783598e+02] [ 8.44332685e-02 -1.80559644e-03 9.96427500e-01 2.37537341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:137.85, Z:23.76 [[ 4.04446720e-01 -9.13911354e-01 -3.44802458e-02 2.31668948e+02] [ 9.10653975e-01 4.05913770e-01 -7.70931176e-02 1.37847814e+02] [ 8.44522821e-02 -2.19514353e-04 9.96427501e-01 2.37565606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:137.91, Z:23.76 [[ 4.06550622e-01 -9.12978442e-01 -3.44522220e-02 2.31675390e+02] [ 9.09716635e-01 4.08007798e-01 -7.71056392e-02 1.37908348e+02] [ 8.44525616e-02 5.58610240e-06 9.96427501e-01 2.37622682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:231.69, Y:137.97, Z:23.76 [[ 4.05174122e-01 -9.13591218e-01 -3.44240702e-02 2.31687460e+02] [ 9.10330547e-01 4.06633837e-01 -7.71182056e-02 1.37967370e+02] [ 8.44525072e-02 -9.09814582e-05 9.96427502e-01 2.37636689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:138.02, Z:23.77 [[ 4.00552914e-01 -9.15627692e-01 -3.43990407e-02 2.31701659e+02] [ 9.12373482e-01 4.02026977e-01 -7.71293686e-02 1.38023773e+02] [ 8.44511281e-02 -4.90379243e-04 9.96427502e-01 2.37700990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77710568099997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:138.08, Z:23.79 [[ 3.89822657e-01 -9.20248320e-01 -3.43704101e-02 2.31720738e+02] [ 9.17010445e-01 3.91332259e-01 -7.71421249e-02 1.38078669e+02] [ 8.44401611e-02 -1.44627695e-03 9.96427502e-01 2.37860191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83710568099997 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:231.75, Y:138.13, Z:23.78 [[ 3.84188265e-01 -9.22615745e-01 -3.43447926e-02 2.31745363e+02] [ 9.19386147e-01 3.85715497e-01 -7.71535286e-02 1.38130807e+02] [ 8.44303790e-02 -1.93464622e-03 9.96427503e-01 2.37849919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89710568099997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:231.77, Y:138.18, Z:23.79 [[ 3.89754749e-01 -9.20278864e-01 -3.43227208e-02 2.31766258e+02] [ 9.17039239e-01 3.91260593e-01 -7.71633463e-02 1.38184986e+02] [ 8.44409247e-02 -1.40050118e-03 9.96427503e-01 2.37863914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:138.24, Z:23.79 [[ 4.00785916e-01 -9.15529622e-01 -3.42952134e-02 2.31789255e+02] [ 9.12271092e-01 4.02250401e-01 -7.71755700e-02 1.38238271e+02] [ 8.44517838e-02 -3.55650293e-04 9.96427504e-01 2.37901656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:138.29, Z:23.80 [[ 4.12516135e-01 -9.10305528e-01 -3.42678204e-02 2.31814597e+02] [ 9.07027445e-01 4.13936310e-01 -7.71877313e-02 1.38290560e+02] [ 8.44491136e-02 7.59331003e-04 9.96427504e-01 2.37998882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077105681 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:138.34, Z:23.81 [[ 4.22578492e-01 -9.05679223e-01 -3.42427167e-02 2.31839665e+02] [ 9.02384705e-01 4.23960115e-01 -7.71988664e-02 1.38342407e+02] [ 8.44349555e-02 1.72247673e-03 9.96427504e-01 2.38101920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137105681 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:231.87, Y:138.39, Z:23.81 [[ 4.31769837e-01 -9.01334659e-01 -3.42146287e-02 2.31872118e+02] [ 8.98025279e-01 4.33115471e-01 -7.72113131e-02 1.38390413e+02] [ 8.44121176e-02 2.61191465e-03 9.96427505e-01 2.38108639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197105681 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:138.44, Z:23.82 [[ 4.40564629e-01 -8.97069360e-01 -3.41960712e-02 2.31904932e+02] [ 8.93746349e-01 4.41876237e-01 -7.72195312e-02 1.38438809e+02] [ 8.43817067e-02 3.45758030e-03 9.96427505e-01 2.38173548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:138.49, Z:23.83 [[ 4.45734967e-01 -8.94512636e-01 -3.41684412e-02 2.31938022e+02] [ 8.91181188e-01 4.47024995e-01 -7.72317552e-02 1.38487148e+02] [ 8.43589282e-02 3.97462188e-03 9.96427505e-01 2.38274501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:138.53, Z:23.83 [[ 4.45972540e-01 -8.94395247e-01 -3.41413971e-02 2.31979999e+02] [ 8.91062557e-01 4.47259353e-01 -7.72437086e-02 1.38532357e+02] [ 8.43564650e-02 4.02645235e-03 9.96427506e-01 2.38267063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:138.57, Z:23.83 [[ 4.36964039e-01 -8.98831888e-01 -3.41125585e-02 2.32032281e+02] [ 8.95511312e-01 4.38281796e-01 -7.72564423e-02 1.38572831e+02] [ 8.43914673e-02 3.21010504e-03 9.96427506e-01 2.38315763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:138.62, Z:23.84 [[ 4.24919094e-01 -9.04589470e-01 -3.40830573e-02 2.32076361e+02] [ 9.01285755e-01 4.26278570e-01 -7.72694551e-02 1.38616029e+02] [ 8.44260124e-02 2.11469280e-03 9.96427507e-01 2.38404251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.12, Y:138.66, Z:23.85 [[ 4.09889575e-01 -9.11498855e-01 -3.40642666e-02 2.32120403e+02] [ 9.08217406e-01 4.11301950e-01 -7.72777381e-02 1.38659566e+02] [ 8.44492691e-02 7.37579376e-04 9.96427507e-01 2.38450670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.16, Y:138.70, Z:23.84 [[ 4.01097768e-01 -9.15402761e-01 -3.40347667e-02 2.32161360e+02] [ 9.12133960e-01 4.02539170e-01 -7.72907284e-02 1.38704297e+02] [ 8.44524729e-02 -4.31278164e-05 9.96427508e-01 2.38449979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.19, Y:138.76, Z:23.85 [[ 4.02015006e-01 -9.15001116e-01 -3.40131239e-02 2.32188442e+02] [ 9.11730068e-01 4.03451303e-01 -7.73002516e-02 1.38756424e+02] [ 8.44524556e-02 6.50733554e-05 9.96427508e-01 2.38469391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:138.80, Z:23.85 [[ 4.17761857e-01 -9.07920766e-01 -3.39840101e-02 2.32222818e+02] [ 9.04624359e-01 4.19138953e-01 -7.73130490e-02 1.38804505e+02] [ 8.44381451e-02 1.55567953e-03 9.96427508e-01 2.38531261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:138.85, Z:23.86 [[ 4.27985847e-01 -9.03147392e-01 -3.39544233e-02 2.32254590e+02] [ 8.99834625e-01 4.29323108e-01 -7.73260408e-02 1.38853867e+02] [ 8.44142306e-02 2.54108537e-03 9.96427509e-01 2.38644497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.29, Y:138.90, Z:23.87 [[ 4.26768279e-01 -9.03724405e-01 -3.39269304e-02 2.32287831e+02] [ 9.00412492e-01 4.28107653e-01 -7.73381015e-02 1.38901821e+02] [ 8.44167083e-02 2.45721659e-03 9.96427509e-01 2.38688945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.32, Y:138.95, Z:23.88 [[ 4.18515402e-01 -9.07576910e-01 -3.38970506e-02 2.32320403e+02] [ 9.04276286e-01 4.19882355e-01 -7.73511956e-02 1.38950561e+02] [ 8.44349325e-02 1.72036771e-03 9.96427510e-01 2.38765177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.35, Y:139.00, Z:23.88 [[ 4.11415656e-01 -9.10818275e-01 -3.38707603e-02 2.32349527e+02] [ 9.07527481e-01 4.12806109e-01 -7.73627060e-02 1.39000443e+02] [ 8.44454231e-02 1.08958272e-03 9.96427510e-01 2.38829340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:139.05, Z:23.88 [[ 4.04340091e-01 -9.13982336e-01 -3.38434592e-02 2.32374662e+02] [ 9.10701428e-01 4.05753710e-01 -7.73746474e-02 1.39051322e+02] [ 8.44511702e-02 4.64385334e-04 9.96427511e-01 2.38834150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.40, Y:139.10, Z:23.89 [[ 3.93423847e-01 -9.18735244e-01 -3.38116728e-02 2.32400916e+02] [ 9.15470218e-01 3.94873771e-01 -7.73885352e-02 1.39102113e+02] [ 8.44509175e-02 -5.07084276e-04 9.96427511e-01 2.38882220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:139.15, Z:23.90 [[ 3.84620503e-01 -9.22456419e-01 -3.37820044e-02 2.32427581e+02] [ 9.19204275e-01 3.86099094e-01 -7.74014841e-02 1.39152665e+02] [ 8.44426971e-02 -1.28236508e-03 9.96427512e-01 2.38967002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.45, Y:139.20, Z:23.90 [[ 3.74283505e-01 -9.26699805e-01 -3.37539621e-02 2.32451184e+02] [ 9.23463300e-01 3.75796022e-01 -7.74137111e-02 1.39204959e+02] [ 8.44238757e-02 -2.19587015e-03 9.96427512e-01 2.39013619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:139.26, Z:23.90 [[ 3.57948406e-01 -9.33132140e-01 -3.37245985e-02 2.32473386e+02] [ 9.29921515e-01 3.59515107e-01 -7.74265010e-02 1.39258679e+02] [ 8.43736593e-02 -3.64653718e-03 9.96427513e-01 2.39038872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:139.31, Z:23.92 [[ 3.42681918e-01 -9.38846990e-01 -3.36961633e-02 2.32493179e+02] [ 9.35661159e-01 3.44298440e-01 -7.74388742e-02 1.39312784e+02] [ 8.43047904e-02 -4.99128921e-03 9.96427513e-01 2.39151793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.50, Y:139.37, Z:23.92 [[ 3.36933699e-01 -9.40926209e-01 -3.36682503e-02 2.32504602e+02] [ 9.37749148e-01 3.38567388e-01 -7.74510081e-02 1.39370577e+02] [ 8.42746550e-02 -5.47651837e-03 9.96427514e-01 2.39249526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:139.43, Z:23.93 [[ 3.35518704e-01 -9.41432749e-01 -3.36389310e-02 2.32514258e+02] [ 9.38256911e-01 3.37154768e-01 -7.74637402e-02 1.39428915e+02] [ 8.42684279e-02 -5.57142579e-03 9.96427514e-01 2.39310992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:139.49, Z:23.93 [[ 3.34817755e-01 -9.41683320e-01 -3.36094769e-02 2.32518817e+02] [ 9.38507458e-01 3.36453772e-01 -7.74765175e-02 1.39489439e+02] [ 8.42663795e-02 -5.60223107e-03 9.96427515e-01 2.39294229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:139.55, Z:23.94 [[ 3.30673500e-01 -9.43147654e-01 -3.35788386e-02 2.32522535e+02] [ 9.39977717e-01 3.32320965e-01 -7.74897941e-02 1.39550218e+02] [ 8.42432696e-02 -5.93953858e-03 9.96427515e-01 2.39363915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:139.61, Z:23.95 [[ 3.32564662e-01 -9.42483511e-01 -3.35496100e-02 2.32521461e+02] [ 9.39309041e-01 3.34203375e-01 -7.75024468e-02 1.39612325e+02] [ 8.42571711e-02 -5.73887692e-03 9.96427516e-01 2.39462580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:139.67, Z:23.96 [[ 3.40442602e-01 -9.39667670e-01 -3.35187148e-02 2.32524859e+02] [ 9.36478312e-01 3.42052147e-01 -7.75158062e-02 1.39673335e+02] [ 8.43042454e-02 -4.99986666e-03 9.96427516e-01 2.39569497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:139.74, Z:23.97 [[ 3.52588985e-01 -9.35178784e-01 -3.34910263e-02 2.32524424e+02] [ 9.31967723e-01 3.54154781e-01 -7.75277674e-02 1.39736334e+02] [ 8.43633303e-02 -3.87711872e-03 9.96427517e-01 2.39695945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:139.80, Z:23.97 [[ 3.73486850e-01 -9.27031663e-01 -3.34644370e-02 2.32526252e+02] [ 9.23785250e-01 3.74977969e-01 -7.75392428e-02 1.39798969e+02] [ 8.44297599e-02 -1.95406582e-03 9.96427517e-01 2.39717724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:139.86, Z:23.97 [[ 3.92156451e-01 -9.19290692e-01 -3.34356364e-02 2.32526925e+02] [ 9.16013735e-01 3.93579189e-01 -7.75516600e-02 1.39860583e+02] [ 8.44520898e-02 -2.15118451e-04 9.96427518e-01 2.39732024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.54, Y:139.92, Z:23.97 [[ 4.00693322e-01 -9.15602870e-01 -3.34102637e-02 2.32539813e+02] [ 9.12311908e-01 4.02083358e-01 -7.75625894e-02 1.39918644e+02] [ 8.44502404e-02 5.98230175e-04 9.96427518e-01 2.39748823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:139.98, Z:23.98 [[ 4.01399549e-01 -9.15294533e-01 -3.33814222e-02 2.32555379e+02] [ 9.12001472e-01 4.02784601e-01 -7.75750003e-02 1.39975077e+02] [ 8.44494965e-02 6.94664001e-04 9.96427519e-01 2.39801691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:140.03, Z:23.99 [[ 3.99387603e-01 -9.16175290e-01 -3.33523609e-02 2.32574062e+02] [ 9.12884240e-01 4.00777426e-01 -7.75874928e-02 1.40028134e+02] [ 8.44506171e-02 5.40638098e-04 9.96427519e-01 2.39885117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:140.08, Z:23.99 [[ 3.92015482e-01 -9.19354769e-01 -3.33267291e-02 2.32602753e+02] [ 9.16074056e-01 3.93429532e-01 -7.75985011e-02 1.40079143e+02] [ 8.44522715e-02 -1.09938045e-04 9.96427520e-01 2.39916169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:232.63, Y:140.13, Z:23.99 [[ 3.83746208e-01 -9.22838057e-01 -3.32981589e-02 2.32630514e+02] [ 9.19569112e-01 3.85187252e-01 -7.76107589e-02 1.40131096e+02] [ 8.44481883e-02 -8.37123990e-04 9.96427520e-01 2.39893951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.66, Y:140.18, Z:23.99 [[ 3.77934745e-01 -9.25234267e-01 -3.32697975e-02 2.32659495e+02] [ 9.21973384e-01 3.79393941e-01 -7.76229149e-02 1.40181658e+02] [ 8.44417403e-02 -1.33747123e-03 9.96427521e-01 2.39909003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:140.23, Z:23.99 [[ 3.77852292e-01 -9.25268991e-01 -3.32406334e-02 2.32685465e+02] [ 9.22007145e-01 3.79309332e-01 -7.76354019e-02 1.40233924e+02] [ 8.44421124e-02 -1.31338696e-03 9.96427521e-01 2.39945587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:232.71, Y:140.29, Z:24.00 [[ 3.94479855e-01 -9.18304193e-01 -3.32122495e-02 2.32707211e+02] [ 9.15015578e-01 3.95875424e-01 -7.76475426e-02 1.40287360e+02] [ 8.44519773e-02 2.40665708e-04 9.96427522e-01 2.40020855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:140.34, Z:24.01 [[ 4.05837336e-01 -9.13342688e-01 -3.31841979e-02 2.32731965e+02] [ 9.10036044e-01 4.07189632e-01 -7.76595292e-02 1.40339378e+02] [ 8.44420245e-02 1.31832024e-03 9.96427522e-01 2.40114197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.76, Y:140.39, Z:24.02 [[ 4.06761883e-01 -9.12932341e-01 -3.31558503e-02 2.32760872e+02] [ 9.09623348e-01 4.08108420e-01 -7.76716301e-02 1.40389929e+02] [ 8.44401248e-02 1.43452296e-03 9.96427522e-01 2.40220877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.79, Y:140.44, Z:24.03 [[ 4.07007303e-01 -9.12824009e-01 -3.31267734e-02 2.32790456e+02] [ 9.09513650e-01 4.08350476e-01 -7.76840294e-02 1.40440393e+02] [ 8.44391809e-02 1.48871470e-03 9.96427523e-01 2.40295408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:140.49, Z:24.03 [[ 4.06334225e-01 -9.13124829e-01 -3.30990154e-02 2.32814033e+02] [ 9.09814502e-01 4.07677477e-01 -7.76958545e-02 1.40492198e+02] [ 8.44397370e-02 1.45652056e-03 9.96427523e-01 2.40309596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:140.54, Z:24.03 [[ 4.00254805e-01 -9.15806912e-01 -3.30725048e-02 2.32845346e+02] [ 9.12504660e-01 4.01617786e-01 -7.77071376e-02 1.40541779e+02] [ 8.44472399e-02 9.23840454e-04 9.96427524e-01 2.40332148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.88, Y:140.59, Z:24.04 [[ 3.92508597e-01 -9.19154503e-01 -3.30454359e-02 2.32877453e+02] [ 9.15862910e-01 3.93897121e-01 -7.77186471e-02 1.40591780e+02] [ 8.44519466e-02 2.40148082e-04 9.96427524e-01 2.40375246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:140.64, Z:24.04 [[ 3.92627842e-01 -9.19104613e-01 -3.30164664e-02 2.32907304e+02] [ 9.15811809e-01 3.94013489e-01 -7.77309521e-02 1.40641325e+02] [ 8.44518098e-02 2.82466173e-04 9.96427525e-01 2.40390401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.94, Y:140.69, Z:24.04 [[ 3.99966240e-01 -9.15935406e-01 -3.30051277e-02 2.32935619e+02] [ 9.12631229e-01 4.01324545e-01 -7.77357663e-02 1.40691989e+02] [ 8.44467085e-02 9.70171886e-04 9.96427525e-01 2.40396755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.96, Y:140.74, Z:24.04 [[ 4.07324063e-01 -9.12688167e-01 -3.29759968e-02 2.32963980e+02] [ 9.09372172e-01 4.08653255e-01 -7.77481219e-02 1.40744141e+02] [ 8.44355393e-02 1.68122710e-03 9.96427525e-01 2.40367113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.00, Y:140.79, Z:24.04 [[ 4.06942091e-01 -9.12859163e-01 -3.29588173e-02 2.32995852e+02] [ 9.09543137e-01 4.08271207e-01 -7.77554039e-02 1.40793115e+02] [ 8.44358690e-02 1.66448061e-03 9.96427525e-01 2.40425087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:140.84, Z:24.04 [[ 4.02585237e-01 -9.14790063e-01 -3.29282235e-02 2.33027384e+02] [ 9.11479357e-01 4.03927548e-01 -7.77683578e-02 1.40841908e+02] [ 8.44423375e-02 1.29499678e-03 9.96427526e-01 2.40432533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.06, Y:140.89, Z:24.05 [[ 4.05629633e-01 -9.13445044e-01 -3.29052065e-02 2.33059135e+02] [ 9.10129100e-01 4.06958952e-01 -7.77780955e-02 1.40890959e+02] [ 8.44370842e-02 1.60111440e-03 9.96427526e-01 2.40522848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:140.94, Z:24.05 [[ 4.10964294e-01 -9.11057995e-01 -3.28888749e-02 2.33086210e+02] [ 9.07733786e-01 4.12272806e-01 -7.77850008e-02 1.40943213e+02] [ 8.44258357e-02 2.11251499e-03 9.96427527e-01 2.40545343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:140.99, Z:24.05 [[ 4.23791469e-01 -9.05163519e-01 -3.28602322e-02 2.33117505e+02] [ 9.01820234e-01 4.25050440e-01 -7.77970991e-02 1.40993923e+02] [ 8.43863521e-02 3.33572461e-03 9.96427527e-01 2.40520817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:141.04, Z:24.06 [[ 4.24238412e-01 -9.04955110e-01 -3.28332080e-02 2.33152077e+02] [ 9.01610333e-01 4.25493413e-01 -7.78085026e-02 1.41040759e+02] [ 8.43835158e-02 3.40659595e-03 9.96427527e-01 2.40583217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.19, Y:141.09, Z:24.06 [[ 4.16740891e-01 -9.08432652e-01 -3.28199184e-02 2.33190224e+02] [ 9.05097930e-01 4.18022371e-01 -7.78141079e-02 1.41087479e+02] [ 8.44083364e-02 2.72308049e-03 9.96427528e-01 2.40616978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:141.13, Z:24.07 [[ 4.04175938e-01 -9.14093345e-01 -3.27897459e-02 2.33224705e+02] [ 9.10775583e-01 4.05500707e-01 -7.78268201e-02 1.41134146e+02] [ 8.44372434e-02 1.59162813e-03 9.96427528e-01 2.40707442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.26, Y:141.18, Z:24.08 [[ 3.99550690e-01 -9.16125605e-01 -3.27585439e-02 2.33263229e+02] [ 9.12813509e-01 4.00889560e-01 -7.78399514e-02 1.41180594e+02] [ 8.44437308e-02 1.19856490e-03 9.96427529e-01 2.40771302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:141.23, Z:24.08 [[ 3.96563188e-01 -9.17423805e-01 -3.27291929e-02 2.33290185e+02] [ 9.14115075e-01 3.97910354e-01 -7.78522906e-02 1.41231738e+02] [ 8.44468294e-02 9.55103871e-04 9.96427529e-01 2.40801472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:141.28, Z:24.09 [[ 3.94828160e-01 -9.18172893e-01 -3.26995721e-02 2.33319603e+02] [ 9.14865690e-01 3.96179067e-01 -7.78647300e-02 1.41280376e+02] [ 8.44481704e-02 8.27471490e-04 9.96427530e-01 2.40859639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:141.33, Z:24.10 [[ 4.03991729e-01 -9.14178783e-01 -3.26777560e-02 2.33344313e+02] [ 9.10857498e-01 4.05307633e-01 -7.78738846e-02 1.41331671e+02] [ 8.44351970e-02 1.69562618e-03 9.96427530e-01 2.40978689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.36, Y:141.39, Z:24.10 [[ 4.12955241e-01 -9.10165942e-01 -3.26485399e-02 2.33364686e+02] [ 9.06830926e-01 4.14235949e-01 -7.78861315e-02 1.41386111e+02] [ 8.44135031e-02 2.55678051e-03 9.96427530e-01 2.40979887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:141.44, Z:24.10 [[ 4.14376257e-01 -9.09520922e-01 -3.26191720e-02 2.33393948e+02] [ 9.06182952e-01 4.15649243e-01 -7.78984290e-02 1.41435896e+02] [ 8.44083851e-02 2.72032187e-03 9.96427531e-01 2.41007646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.42, Y:141.49, Z:24.11 [[ 4.12316608e-01 -9.10457250e-01 -3.25977276e-02 2.33424287e+02] [ 9.07121466e-01 4.13595312e-01 -7.79074018e-02 1.41485636e+02] [ 8.44136261e-02 2.55241712e-03 9.96427531e-01 2.41103355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:141.54, Z:24.11 [[ 4.12700035e-01 -9.10284519e-01 -3.25695470e-02 2.33454910e+02] [ 9.06947277e-01 4.13974925e-01 -7.79191811e-02 1.41536153e+02] [ 8.44116000e-02 2.61838677e-03 9.96427532e-01 2.41113787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.49, Y:141.59, Z:24.12 [[ 4.00921502e-01 -9.15534299e-01 -3.25406747e-02 2.33485338e+02] [ 9.12212810e-01 4.02236886e-01 -7.79312369e-02 1.41586068e+02] [ 8.44377800e-02 1.56028827e-03 9.96427532e-01 2.41178816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.51, Y:141.64, Z:24.12 [[ 3.80336566e-01 -9.24276522e-01 -3.25116632e-02 2.33511862e+02] [ 9.20984263e-01 3.81723490e-01 -7.79433382e-02 1.41638116e+02] [ 8.44516631e-02 -2.98028618e-04 9.96427533e-01 2.41182867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:141.69, Z:24.12 [[ 3.62933874e-01 -9.31248556e-01 -3.24827638e-02 2.33530809e+02] [ 9.27981820e-01 3.64379886e-01 -7.79553802e-02 1.41691640e+02] [ 8.44319010e-02 -1.85076612e-03 9.96427533e-01 2.41206443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:141.75, Z:24.13 [[ 3.57494775e-01 -9.33351130e-01 -3.24523299e-02 2.33549875e+02] [ 9.30091745e-01 3.58957281e-01 -7.79680476e-02 1.41745700e+02] [ 8.44205655e-02 -2.31047443e-03 9.96427534e-01 2.41331831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:141.80, Z:24.14 [[ 3.56468117e-01 -9.33744753e-01 -3.24224827e-02 2.33558656e+02] [ 9.30485860e-01 3.57931716e-01 -7.79804574e-02 1.41803114e+02] [ 8.44188779e-02 -2.37111488e-03 9.96427534e-01 2.41424849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:141.86, Z:24.15 [[ 3.62762747e-01 -9.31318404e-01 -3.23916722e-02 2.33566948e+02] [ 9.28048569e-01 3.64201737e-01 -7.79932535e-02 1.41861435e+02] [ 8.44336556e-02 -1.76799816e-03 9.96427535e-01 2.41511194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:141.92, Z:24.15 [[ 3.73208991e-01 -9.27182698e-01 -3.23619143e-02 2.33574383e+02] [ 9.23895828e-01 3.74608630e-01 -7.80055991e-02 1.41921015e+02] [ 8.44484942e-02 -7.86646709e-04 9.96427535e-01 2.41524307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.58, Y:141.98, Z:24.16 [[ 3.85456088e-01 -9.22159547e-01 -3.23322544e-02 2.33580555e+02] [ 9.18853400e-01 3.86809563e-01 -7.80178909e-02 1.41981205e+02] [ 8.44513681e-02 3.63869137e-04 9.96427536e-01 2.41554973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:142.04, Z:24.16 [[ 3.99059950e-01 -9.16355594e-01 -3.23045194e-02 2.33594254e+02] [ 9.13028856e-01 4.00361992e-01 -7.80293733e-02 1.42038713e+02] [ 8.44361545e-02 1.64343945e-03 9.96427536e-01 2.41553550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.61, Y:142.09, Z:24.16 [[ 4.05459529e-01 -9.13543055e-01 -3.22747031e-02 2.33611848e+02] [ 9.10206318e-01 4.06735726e-01 -7.80417041e-02 1.42094712e+02] [ 8.44217316e-02 2.26611394e-03 9.96427537e-01 2.41554417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.63, Y:142.15, Z:24.16 [[ 4.05685254e-01 -9.13443896e-01 -3.22447586e-02 2.33628100e+02] [ 9.10105868e-01 4.06958070e-01 -7.80540745e-02 1.42151021e+02] [ 8.44202826e-02 2.31924302e-03 9.96427537e-01 2.41605852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:142.20, Z:24.16 [[ 3.96060479e-01 -9.17659119e-01 -3.22154845e-02 2.33651153e+02] [ 9.14333679e-01 3.97365826e-01 -7.80661550e-02 1.42204556e+02] [ 8.44394517e-02 1.46321633e-03 9.96427538e-01 2.41578495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.68, Y:142.26, Z:24.16 [[ 3.79546968e-01 -9.24612413e-01 -3.21867332e-02 2.33676205e+02] [ 9.21309904e-01 3.80909289e-01 -7.80780075e-02 1.42257339e+02] [ 8.44521205e-02 -1.96850336e-05 9.96427538e-01 2.41603006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:142.31, Z:24.17 [[ 3.61870866e-01 -9.31673438e-01 -3.21571332e-02 2.33702047e+02] [ 9.28396394e-01 3.63293349e-01 -7.80901966e-02 1.42307728e+02] [ 8.44370346e-02 -1.59599948e-03 9.96427539e-01 2.41668465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:142.36, Z:24.17 [[ 3.53833819e-01 -9.34756078e-01 -3.21357056e-02 2.33724623e+02] [ 9.31490611e-01 3.55282683e-01 -7.80990135e-02 1.42360961e+02] [ 8.44207873e-02 -2.30003585e-03 9.96427539e-01 2.41713266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.75, Y:142.41, Z:24.18 [[ 3.44023392e-01 -9.38412019e-01 -3.21058826e-02 2.33751112e+02] [ 9.35160779e-01 3.45503902e-01 -7.81112717e-02 1.42413056e+02] [ 8.43932639e-02 -3.15205754e-03 9.96427540e-01 2.41765404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:142.47, Z:24.18 [[ 3.37216097e-01 -9.40880601e-01 -3.20779962e-02 2.33771726e+02] [ 9.37639101e-01 3.38717812e-01 -7.81227222e-02 1.42465850e+02] [ 8.43695425e-02 -3.73334404e-03 9.96427540e-01 2.41819323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.79, Y:142.52, Z:24.19 [[ 3.42723789e-01 -9.38889363e-01 -3.20494783e-02 2.33790976e+02] [ 9.35638039e-01 3.44204114e-01 -7.81344198e-02 1.42519226e+02] [ 8.43911379e-02 -3.20818664e-03 9.96427540e-01 2.41880003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.80, Y:142.58, Z:24.21 [[ 3.61758705e-01 -9.31721810e-01 -3.20172904e-02 2.33801327e+02] [ 9.28439875e-01 3.63169863e-01 -7.81476073e-02 1.42575156e+02] [ 8.44395451e-02 -1.45555186e-03 9.96427541e-01 2.42098838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.81, Y:142.63, Z:24.21 [[ 3.80122651e-01 -9.24382798e-01 -3.19876812e-02 2.33812476e+02] [ 9.21072569e-01 3.81466094e-01 -7.81597252e-02 1.42632209e+02] [ 8.44517213e-02 2.47306318e-04 9.96427542e-01 2.42098707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:142.69, Z:24.21 [[ 3.95074126e-01 -9.18093203e-01 -3.19578821e-02 2.33827511e+02] [ 9.14760627e-01 3.96361135e-01 -7.81719076e-02 1.42688785e+02] [ 8.44359594e-02 1.64988580e-03 9.96427542e-01 2.42062961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.85, Y:142.74, Z:24.20 [[ 4.05846302e-01 -9.13383422e-01 -3.19296625e-02 2.33846003e+02] [ 9.10035040e-01 4.07091608e-01 -7.81834324e-02 1.42744472e+02] [ 8.44097487e-02 2.67334515e-03 9.96427543e-01 2.42010017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.87, Y:142.80, Z:24.20 [[ 4.13179251e-01 -9.10090811e-01 -3.19001826e-02 2.33872482e+02] [ 9.06731606e-01 4.14395059e-01 -7.81954589e-02 1.42795553e+02] [ 8.43842467e-02 3.38383731e-03 9.96427543e-01 2.42044644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:142.85, Z:24.21 [[ 4.22729700e-01 -9.05695273e-01 -3.18696191e-02 2.33902046e+02] [ 9.02322545e-01 4.23907474e-01 -7.82079135e-02 1.42846158e+02] [ 8.43423073e-02 4.30413201e-03 9.96427544e-01 2.42117186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.93, Y:142.89, Z:24.22 [[ 4.27462820e-01 -9.03472034e-01 -3.18405468e-02 2.33934309e+02] [ 9.00092331e-01 4.28620423e-01 -7.82197479e-02 1.42894716e+02] [ 8.43168634e-02 4.77660207e-03 9.96427544e-01 2.42218178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:142.94, Z:24.23 [[ 4.22764657e-01 -9.05680904e-01 -3.18142204e-02 2.33971302e+02] [ 9.02306470e-01 4.23937531e-01 -7.82304542e-02 1.42940553e+02] [ 8.43390705e-02 4.36689420e-03 9.96427545e-01 2.42285379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.01, Y:142.99, Z:24.23 [[ 4.18311730e-01 -9.07747261e-01 -3.17837628e-02 2.34008089e+02] [ 9.04377705e-01 4.19498543e-01 -7.82428267e-02 1.42987969e+02] [ 8.43579538e-02 3.98536569e-03 9.96427545e-01 2.42290409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.04, Y:143.04, Z:24.23 [[ 4.21470736e-01 -9.06285854e-01 -3.17548451e-02 2.34043133e+02] [ 9.02911319e-01 4.22643317e-01 -7.82545612e-02 1.43036181e+02] [ 8.43419749e-02 4.31019837e-03 9.96427546e-01 2.42276216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:143.08, Z:24.24 [[ 4.27869390e-01 -9.03283619e-01 -3.17252122e-02 2.34075503e+02] [ 8.99900010e-01 4.29015520e-01 -7.82665729e-02 1.43083798e+02] [ 8.43075216e-02 4.93835196e-03 9.96427546e-01 2.42381924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.11, Y:143.13, Z:24.24 [[ 4.29180289e-01 -9.02662270e-01 -3.17034000e-02 2.34110850e+02] [ 8.99276366e-01 4.30319623e-01 -7.82754074e-02 1.43132470e+02] [ 8.42988520e-02 5.08414365e-03 9.96427546e-01 2.42405215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.15, Y:143.18, Z:24.24 [[ 4.23886495e-01 -9.05161282e-01 -3.16747996e-02 2.34145451e+02] [ 9.01781265e-01 4.25043174e-01 -7.82869791e-02 1.43181762e+02] [ 8.43254997e-02 4.62105234e-03 9.96427547e-01 2.42408303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:143.23, Z:24.24 [[ 4.10202421e-01 -9.11445237e-01 -3.16473479e-02 2.34180054e+02] [ 9.08082184e-01 4.11407533e-01 -7.82980748e-02 1.43229806e+02] [ 8.43843647e-02 3.37966702e-03 9.96427547e-01 2.42384600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.21, Y:143.28, Z:24.24 [[ 3.95332508e-01 -9.17993366e-01 -3.16289113e-02 2.34212929e+02] [ 9.14649756e-01 3.96590557e-01 -7.83055217e-02 1.43279541e+02] [ 8.44276770e-02 2.02734232e-03 9.96427547e-01 2.42449208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83710568099997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:143.33, Z:24.26 [[ 3.78048981e-01 -9.25245676e-01 -3.16134027e-02 2.34239861e+02] [ 9.21925722e-01 3.79368195e-01 -7.83117824e-02 1.43328712e+02] [ 8.44507575e-02 4.60480453e-04 9.96427548e-01 2.42578784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89710568099997 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:143.38, Z:24.26 [[ 3.62846688e-01 -9.31313294e-01 -3.15884480e-02 2.34267615e+02] [ 9.28014516e-01 3.64217994e-01 -7.83218470e-02 1.43380219e+02] [ 8.44472585e-02 -8.95715465e-04 9.96427548e-01 2.42613448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:143.43, Z:24.27 [[ 3.47898455e-01 -9.37000896e-01 -3.15592444e-02 2.34290190e+02] [ 9.33723424e-01 3.49319929e-01 -7.83336127e-02 1.43431896e+02] [ 8.44229383e-02 -2.21546284e-03 9.96427548e-01 2.42714440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017105681 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:143.49, Z:24.27 [[ 3.36394368e-01 -9.41193282e-01 -3.15283153e-02 2.34306946e+02] [ 9.37932318e-01 3.37853313e-01 -7.83460593e-02 1.43486582e+02] [ 8.43907305e-02 -3.21625275e-03 9.96427549e-01 2.42741805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:143.55, Z:24.28 [[ 3.18780416e-01 -9.47305118e-01 -3.14969688e-02 2.34315290e+02] [ 9.44070723e-01 3.20297348e-01 -7.83586594e-02 1.43545941e+02] [ 8.43179547e-02 -4.75616003e-03 9.96427550e-01 2.42837838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:143.60, Z:24.28 [[ 3.11051148e-01 -9.49872136e-01 -3.14660027e-02 2.34324499e+02] [ 9.46648991e-01 3.12591842e-01 -7.83710923e-02 1.43604736e+02] [ 8.42785326e-02 -5.40984146e-03 9.96427550e-01 2.42822073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:143.67, Z:24.29 [[ 2.97757821e-01 -9.54123796e-01 -3.14334409e-02 2.34317953e+02] [ 9.50921165e-01 2.99340713e-01 -7.83841503e-02 1.43669189e+02] [ 8.41974916e-02 -6.55123041e-03 9.96427551e-01 2.42925469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:143.73, Z:24.29 [[ 2.92474916e-01 -9.55757393e-01 -3.14042937e-02 2.34315468e+02] [ 9.52562381e-01 2.94073130e-01 -7.83958263e-02 1.43733678e+02] [ 8.41625495e-02 -6.98573607e-03 9.96427551e-01 2.42887535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:143.79, Z:24.29 [[ 2.91424527e-01 -9.56079114e-01 -3.13763139e-02 2.34328075e+02] [ 9.52884720e-01 2.93023975e-01 -7.84070230e-02 1.43791212e+02] [ 8.41573293e-02 -7.04828048e-03 9.96427552e-01 2.42904101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:143.86, Z:24.29 [[ 2.88302600e-01 -9.57026206e-01 -3.13440791e-02 2.34317882e+02] [ 9.53835730e-01 2.89909846e-01 -7.84199072e-02 1.43856500e+02] [ 8.41368635e-02 -7.28843944e-03 9.96427552e-01 2.42946847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:143.92, Z:24.30 [[ 2.92589698e-01 -9.55724670e-01 -3.13308897e-02 2.34310375e+02] [ 9.52526486e-01 2.94181552e-01 -7.84251764e-02 1.43921993e+02] [ 8.41698456e-02 -6.89710367e-03 9.96427552e-01 2.42991945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:143.99, Z:24.31 [[ 3.10593442e-01 -9.50027319e-01 -3.13018724e-02 2.34306679e+02] [ 9.46798502e-01 3.12122206e-01 -7.84367564e-02 1.43985849e+02] [ 8.42870709e-02 -5.27462377e-03 9.96427553e-01 2.43052072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.30, Y:144.05, Z:24.32 [[ 3.27443316e-01 -9.44353131e-01 -3.12735970e-02 2.34296154e+02] [ 9.41096574e-01 3.28912062e-01 -7.84480286e-02 1.44051267e+02] [ 8.43689047e-02 -3.74419234e-03 9.96427553e-01 2.43189911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.30, Y:144.11, Z:24.31 [[ 3.52176692e-01 -9.35411846e-01 -3.12450819e-02 2.34298051e+02] [ 9.32116771e-01 3.53556855e-01 -7.84593842e-02 1.44113714e+02] [ 8.44387504e-02 -1.49249847e-03 9.96427554e-01 2.43141073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.30, Y:144.18, Z:24.32 [[ 3.57157155e-01 -9.33522442e-01 -3.12188635e-02 2.34297170e+02] [ 9.30219150e-01 3.58517533e-01 -7.84698151e-02 1.44175834e+02] [ 8.44458434e-02 -1.01432878e-03 9.96427554e-01 2.43188585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:144.23, Z:24.32 [[ 3.47331968e-01 -9.37223395e-01 -3.11899332e-02 2.34308868e+02] [ 9.33933549e-01 3.48724548e-01 -7.84813126e-02 1.44234263e+02] [ 8.44312176e-02 -1.87025623e-03 9.96427555e-01 2.43187998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:144.29, Z:24.33 [[ 3.41395168e-01 -9.39403227e-01 -3.11595377e-02 2.34327121e+02] [ 9.36121166e-01 3.42805998e-01 -7.84933788e-02 1.44289970e+02] [ 8.44186097e-02 -2.37184253e-03 9.96427555e-01 2.43255453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:234.34, Y:144.35, Z:24.34 [[ 3.46069512e-01 -9.37692151e-01 -3.11339417e-02 2.34336902e+02] [ 9.34402198e-01 3.47461836e-01 -7.85035300e-02 1.44348915e+02] [ 8.44300005e-02 -1.92394529e-03 9.96427556e-01 2.43357289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:144.40, Z:24.34 [[ 3.47780566e-01 -9.37059728e-01 -3.11085898e-02 2.34355120e+02] [ 9.33766346e-01 3.49164760e-01 -7.85135749e-02 1.44404186e+02] [ 8.44339325e-02 -1.74265874e-03 9.96427556e-01 2.43403375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:144.46, Z:24.34 [[ 3.44796203e-01 -9.38162877e-01 -3.10804511e-02 2.34373085e+02] [ 9.34872921e-01 3.46188519e-01 -7.85247124e-02 1.44460846e+02] [ 8.44286655e-02 -1.98124934e-03 9.96427556e-01 2.43361138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:234.39, Y:144.52, Z:24.35 [[ 3.46228238e-01 -9.37636179e-01 -3.10548412e-02 2.34386854e+02] [ 9.34343199e-01 3.47613386e-01 -7.85348393e-02 1.44516852e+02] [ 8.44321851e-02 -1.82490057e-03 9.96427557e-01 2.43453342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09710568099996 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:234.40, Y:144.57, Z:24.36 [[ 3.61706405e-01 -9.31775643e-01 -3.10262456e-02 2.34399823e+02] [ 9.28459213e-01 3.63034426e-01 -7.85461348e-02 1.44572486e+02] [ 8.44509705e-02 -3.95963447e-04 9.96427557e-01 2.43597243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15710568099996 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:234.42, Y:144.63, Z:24.36 [[ 3.71672219e-01 -9.27846290e-01 -3.10003726e-02 2.34422496e+02] [ 9.24514969e-01 3.72962429e-01 -7.85563450e-02 1.44625512e+02] [ 8.44501875e-02 5.36902585e-04 9.96427558e-01 2.43646227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21710568099996 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:144.68, Z:24.37 [[ 3.83992289e-01 -9.22816684e-01 -3.09724033e-02 2.34439079e+02] [ 9.19467596e-01 3.85235652e-01 -7.85673709e-02 1.44680879e+02] [ 8.44349547e-02 1.69114333e-03 9.96427558e-01 2.43696459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27710568099997 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:234.46, Y:144.73, Z:24.37 [[ 3.93436395e-01 -9.18830963e-01 -3.09429332e-02 2.34464878e+02] [ 9.15468396e-01 3.94642827e-01 -7.85789758e-02 1.44733184e+02] [ 8.44122026e-02 2.58855151e-03 9.96427559e-01 2.43670217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33710568099997 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:144.78, Z:24.37 [[ 3.93519455e-01 -9.18796346e-01 -3.09146185e-02 2.34497323e+02] [ 9.15432803e-01 3.94723165e-01 -7.85901138e-02 1.44782450e+02] [ 8.44110254e-02 2.62648293e-03 9.96427559e-01 2.43719625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39710568099997 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:144.83, Z:24.38 [[ 3.83392577e-01 -9.23069026e-01 -3.08821309e-02 2.34526474e+02] [ 9.19717901e-01 3.84630434e-01 -7.86028779e-02 1.44832056e+02] [ 8.44340893e-02 1.73291131e-03 9.96427560e-01 2.43794951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457105681 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:144.88, Z:24.39 [[ 3.70749411e-01 -9.28220151e-01 -3.08581543e-02 2.34560513e+02] [ 9.24885465e-01 3.72030893e-01 -7.86122896e-02 1.44880636e+02] [ 8.44496980e-02 6.05201688e-04 9.96427560e-01 2.43889241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517105681 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:234.59, Y:144.93, Z:24.39 [[ 3.66491293e-01 -9.29910464e-01 -3.08327834e-02 2.34590744e+02] [ 9.26580852e-01 3.67785900e-01 -7.86222392e-02 1.44929243e+02] [ 8.44515059e-02 2.45299353e-04 9.96427560e-01 2.43944578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:144.98, Z:24.40 [[ 3.67807606e-01 -9.29391505e-01 -3.08057707e-02 2.34618976e+02] [ 9.26059179e-01 3.69095212e-01 -7.86328219e-02 1.44979971e+02] [ 8.44509391e-02 3.93783257e-04 9.96427561e-01 2.44018953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:145.03, Z:24.41 [[ 3.71540852e-01 -9.27906329e-01 -3.07772714e-02 2.34651441e+02] [ 9.24567934e-01 3.72812636e-01 -7.86439751e-02 1.45029410e+02] [ 8.44483979e-02 7.63771297e-04 9.96427561e-01 2.44075383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:145.08, Z:24.41 [[ 3.74264767e-01 -9.26811961e-01 -3.07485361e-02 2.34678981e+02] [ 9.23468926e-01 3.75524302e-01 -7.86552086e-02 1.45080693e+02] [ 8.44454107e-02 1.04255577e-03 9.96427562e-01 2.44132215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.71, Y:145.13, Z:24.42 [[ 3.81657464e-01 -9.23793208e-01 -3.07195090e-02 2.34711780e+02] [ 9.20439310e-01 3.82887780e-01 -7.86665438e-02 1.45129236e+02] [ 8.44337435e-02 1.74822995e-03 9.96427562e-01 2.44224071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:145.18, Z:24.43 [[ 3.91704031e-01 -9.19579259e-01 -3.06910165e-02 2.34744570e+02] [ 9.16211288e-01 3.92895281e-01 -7.86776584e-02 1.45178523e+02] [ 8.44086984e-02 2.69890018e-03 9.96427563e-01 2.44282554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:145.23, Z:24.43 [[ 4.05061200e-01 -9.13775350e-01 -3.06599884e-02 2.34775119e+02] [ 9.10389481e-01 4.06200586e-01 -7.86897479e-02 1.45228528e+02] [ 8.43588572e-02 3.96163271e-03 9.96427563e-01 2.44302746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:145.28, Z:24.43 [[ 4.06272319e-01 -9.13238504e-01 -3.06306689e-02 2.34807353e+02] [ 9.09850286e-01 4.07404695e-01 -7.87011592e-02 1.45278787e+02] [ 8.43520072e-02 4.10477957e-03 9.96427564e-01 2.44330312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.84, Y:145.33, Z:24.43 [[ 4.06723662e-01 -9.13038602e-01 -3.06002256e-02 2.34837768e+02] [ 9.09648953e-01 4.07851747e-01 -7.87129943e-02 1.45329393e+02] [ 8.43483577e-02 4.17897408e-03 9.96427564e-01 2.44342858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:145.38, Z:24.43 [[ 4.09568910e-01 -9.11766794e-01 -3.05715635e-02 2.34877922e+02] [ 9.08372833e-01 4.10683953e-01 -7.87241249e-02 1.45376780e+02] [ 8.43332935e-02 4.47257629e-03 9.96427565e-01 2.44317929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.91, Y:145.42, Z:24.44 [[ 4.16760605e-01 -9.08503081e-01 -3.05409599e-02 2.34913940e+02] [ 9.05099572e-01 4.17846154e-01 -7.87359958e-02 1.45423730e+02] [ 8.42933174e-02 5.17145157e-03 9.96427565e-01 2.44439932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:234.95, Y:145.47, Z:24.44 [[ 4.24217436e-01 -9.05045880e-01 -3.05208360e-02 2.34951178e+02] [ 9.01633021e-01 4.25273219e-01 -7.87437958e-02 1.45472934e+02] [ 8.42464422e-02 5.88589759e-03 9.96427565e-01 2.44378716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.98, Y:145.52, Z:24.44 [[ 4.25950996e-01 -9.04232289e-01 -3.04912446e-02 2.34983897e+02] [ 9.00816627e-01 4.26997675e-01 -7.87552526e-02 1.45522371e+02] [ 8.42327329e-02 6.07885814e-03 9.96427566e-01 2.44409999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.02, Y:145.57, Z:24.45 [[ 4.22580500e-01 -9.05813321e-01 -3.04622443e-02 2.35021362e+02] [ 9.02400803e-01 4.23637385e-01 -7.87664682e-02 1.45569005e+02] [ 8.42526617e-02 5.79601987e-03 9.96427566e-01 2.44496126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:235.06, Y:145.62, Z:24.46 [[ 4.18402102e-01 -9.07751878e-01 -3.04336856e-02 2.35059166e+02] [ 9.04343492e-01 4.19472233e-01 -7.87775012e-02 1.45616341e+02] [ 8.42765107e-02 5.43816652e-03 9.96427567e-01 2.44579101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:235.09, Y:145.66, Z:24.46 [[ 4.12591519e-01 -9.10408606e-01 -3.04041024e-02 2.35094057e+02] [ 9.07006312e-01 4.13680864e-01 -7.87889172e-02 1.45664663e+02] [ 8.43077036e-02 4.93092628e-03 9.96427567e-01 2.44575277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:235.13, Y:145.71, Z:24.48 [[ 4.15320134e-01 -9.09168099e-01 -3.03735942e-02 2.35130684e+02] [ 9.05761721e-01 4.16396637e-01 -7.88006766e-02 1.45711205e+02] [ 8.42905238e-02 5.21626863e-03 9.96427568e-01 2.44769246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:145.76, Z:24.49 [[ 4.09061698e-01 -9.12002074e-01 -3.03437559e-02 2.35163692e+02] [ 9.08602346e-01 4.10159018e-01 -7.88121648e-02 1.45760513e+02] [ 8.43226229e-02 4.66863022e-03 9.96427568e-01 2.44855859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59710568099996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:145.81, Z:24.49 [[ 3.92905454e-01 -9.19079091e-01 -3.03138266e-02 2.35201885e+02] [ 9.15698379e-01 3.94060030e-01 -7.88236750e-02 1.45807596e+02] [ 8.43906590e-02 3.21192991e-03 9.96427569e-01 2.44862186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65710568099996 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:145.86, Z:24.50 [[ 3.75995870e-01 -9.26125977e-01 -3.02948853e-02 2.35232754e+02] [ 9.22766409e-01 3.77210598e-01 -7.88309542e-02 1.45857313e+02] [ 8.44349463e-02 1.68501070e-03 9.96427569e-01 2.44992661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71710568099996 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:235.26, Y:145.91, Z:24.51 [[ 3.52667163e-01 -9.35259209e-01 -3.02668822e-02 2.35263001e+02] [ 9.31930220e-01 3.53963347e-01 -7.88417044e-02 1.45907481e+02] [ 8.44507970e-02 -4.01741955e-04 9.96427570e-01 2.45090687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77710568099997 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:235.29, Y:145.96, Z:24.51 [[ 3.30563987e-01 -9.43299121e-01 -3.02360476e-02 2.35287101e+02] [ 9.40000480e-01 3.31935564e-01 -7.88535279e-02 1.45959869e+02] [ 8.44188831e-02 -2.35576272e-03 9.96427570e-01 2.45118252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83710568099997 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:146.01, Z:24.52 [[ 3.17779039e-01 -9.47683539e-01 -3.02058274e-02 2.35306213e+02] [ 9.44402663e-01 3.19192583e-01 -7.88651024e-02 1.46013101e+02] [ 8.43806355e-02 -3.46478740e-03 9.96427571e-01 2.45184139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89710568099997 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:235.32, Y:146.07, Z:24.53 [[ 3.12283303e-01 -9.49509628e-01 -3.01762269e-02 2.35320380e+02] [ 9.46235925e-01 3.13713378e-01 -7.88764270e-02 1.46068672e+02] [ 8.43606129e-02 -3.92203878e-03 9.96427571e-01 2.45284205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.13, Z:24.53 [[ 3.07901165e-01 -9.50940775e-01 -3.01415731e-02 2.35327404e+02] [ 9.47672436e-01 3.09343456e-01 -7.88896673e-02 1.46126193e+02] [ 8.43434998e-02 -4.27411751e-03 9.96427572e-01 2.45314939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017105681 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.19, Z:24.53 [[ 3.21757737e-01 -9.46343281e-01 -3.01056926e-02 2.35327897e+02] [ 9.43052961e-01 3.23149150e-01 -7.89033576e-02 1.46188387e+02] [ 8.43982913e-02 -3.00349675e-03 9.96427573e-01 2.45330344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.25, Z:24.54 [[ 3.30280853e-01 -9.43403468e-01 -3.00741401e-02 2.35329175e+02] [ 9.40099646e-01 3.31639893e-01 -7.89153821e-02 1.46248516e+02] [ 8.44228298e-02 -2.20844872e-03 9.96427573e-01 2.45436987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.31, Z:24.54 [[ 3.34047364e-01 -9.42077356e-01 -3.00435331e-02 2.35334160e+02] [ 9.38767089e-01 3.35390631e-01 -7.89270327e-02 1.46308609e+02] [ 8.44316898e-02 -1.83851287e-03 9.96427574e-01 2.45425099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197105681 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:146.37, Z:24.54 [[ 3.21964065e-01 -9.46276030e-01 -3.00135774e-02 2.35339900e+02] [ 9.42982177e-01 3.23347089e-01 -7.89384224e-02 1.46367720e+02] [ 8.44023398e-02 -2.88693316e-03 9.96427574e-01 2.45448634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:146.43, Z:24.56 [[ 3.02052257e-01 -9.52819773e-01 -2.99818950e-02 2.35343928e+02] [ 9.49554480e-01 3.03501424e-01 -7.89504540e-02 1.46427256e+02] [ 8.43251015e-02 -4.62227991e-03 9.96427575e-01 2.45574141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:146.49, Z:24.57 [[ 2.85658718e-01 -9.57863242e-01 -2.99517541e-02 2.35335894e+02] [ 9.54622150e-01 2.87161229e-01 -7.89618870e-02 1.46492291e+02] [ 8.42356716e-02 -6.03645649e-03 9.96427575e-01 2.45661891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.56, Z:24.57 [[ 2.81065064e-01 -9.59222070e-01 -2.99240660e-02 2.35334070e+02] [ 9.55987155e-01 2.82580826e-01 -7.89723786e-02 1.46555068e+02] [ 8.42080158e-02 -6.41064609e-03 9.96427576e-01 2.45727618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.62, Z:24.57 [[ 2.79115144e-01 -9.59792221e-01 -2.98936129e-02 2.35331937e+02] [ 9.56559222e-01 2.80634989e-01 -7.89839044e-02 1.46617791e+02] [ 8.41973308e-02 -6.54940728e-03 9.96427576e-01 2.45748144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.68, Z:24.58 [[ 2.85040459e-01 -9.58050122e-01 -2.98647065e-02 2.35333308e+02] [ 9.54806699e-01 2.86537928e-01 -7.89948328e-02 1.46679264e+02] [ 8.42383803e-02 -5.99829845e-03 9.96427577e-01 2.45801033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.74, Z:24.59 [[ 3.04995882e-01 -9.51886181e-01 -2.98363858e-02 2.35329826e+02] [ 9.48611156e-01 3.06422912e-01 -7.90055282e-02 1.46741562e+02] [ 8.43468227e-02 -4.20676766e-03 9.96427577e-01 2.45926949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.80, Z:24.60 [[ 3.32390989e-01 -9.42670560e-01 -2.98067993e-02 2.35326768e+02] [ 9.39354649e-01 3.33720251e-01 -7.90166889e-02 1.46803447e+02] [ 8.44338389e-02 -1.73472016e-03 9.96427578e-01 2.45969867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:146.86, Z:24.60 [[ 3.53437117e-01 -9.34983761e-01 -2.97921502e-02 2.35328904e+02] [ 9.31638424e-01 3.54690481e-01 -7.90222117e-02 1.46864740e+02] [ 8.44514768e-02 1.73870817e-04 9.96427578e-01 2.46032451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:146.92, Z:24.61 [[ 3.60903998e-01 -9.32127907e-01 -2.97635437e-02 2.35341134e+02] [ 9.28771768e-01 3.62128141e-01 -7.90329849e-02 1.46922625e+02] [ 8.44470676e-02 8.79781152e-04 9.96427578e-01 2.46053403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:146.98, Z:24.60 [[ 3.61032702e-01 -9.32078992e-01 -2.97345049e-02 2.35356310e+02] [ 9.28721787e-01 3.62253919e-01 -7.90439087e-02 1.46979797e+02] [ 8.44466076e-02 9.22353447e-04 9.96427579e-01 2.46036768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:235.38, Y:147.03, Z:24.61 [[ 3.59998106e-01 -9.32479966e-01 -2.97065201e-02 2.35378001e+02] [ 9.29123254e-01 3.61220676e-01 -7.90544246e-02 1.47033991e+02] [ 8.44472764e-02 8.58424477e-04 9.96427579e-01 2.46065552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:235.40, Y:147.09, Z:24.61 [[ 3.52426128e-01 -9.35368906e-01 -2.96788337e-02 2.35402326e+02] [ 9.32021345e-01 3.53673533e-01 -7.90648174e-02 1.47086666e+02] [ 8.44513898e-02 2.03200948e-04 9.96427580e-01 2.46111624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:147.14, Z:24.62 [[ 3.40362464e-01 -9.39826719e-01 -2.96501448e-02 2.35427791e+02] [ 9.36494550e-01 3.41650422e-01 -7.90755746e-02 1.47138403e+02] [ 8.44473223e-02 -8.52841545e-04 9.96427580e-01 2.46239073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:235.45, Y:147.19, Z:24.62 [[ 3.20353620e-01 -9.46834895e-01 -2.96182319e-02 2.35452528e+02] [ 9.43529699e-01 3.21709295e-01 -7.90875260e-02 1.47191328e+02] [ 8.44112899e-02 -2.60970618e-03 9.96427581e-01 2.46219732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09710568099996 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:147.24, Z:24.64 [[ 3.18861597e-01 -9.47339550e-01 -2.95813930e-02 2.35479218e+02] [ 9.44035230e-01 3.20219406e-01 -7.91013027e-02 1.47240650e+02] [ 8.44083286e-02 -2.70350939e-03 9.96427581e-01 2.46399715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15710568099996 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:235.50, Y:147.30, Z:24.65 [[ 3.15817271e-01 -9.48359679e-01 -2.95528428e-02 2.35497825e+02] [ 9.45058753e-01 3.17183307e-01 -7.91119679e-02 1.47295450e+02] [ 8.44002689e-02 -2.94424699e-03 9.96427582e-01 2.46453460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21710568099996 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:235.52, Y:147.35, Z:24.66 [[ 3.07198960e-01 -9.51187258e-01 -2.95228663e-02 2.35517695e+02] [ 9.47897808e-01 3.08592405e-01 -7.91231529e-02 1.47349532e+02] [ 8.43714672e-02 -3.67810993e-03 9.96427582e-01 2.46551525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27710568099997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:147.41, Z:24.66 [[ 2.98365863e-01 -9.53995752e-01 -2.94943615e-02 2.35531127e+02] [ 9.50718341e-01 2.99787393e-01 -7.91337771e-02 1.47406632e+02] [ 8.43353249e-02 -4.43001274e-03 9.96427583e-01 2.46621621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33710568099997 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:235.54, Y:147.46, Z:24.67 [[ 2.96383804e-01 -9.54614272e-01 -2.94657928e-02 2.35540893e+02] [ 9.51338793e-01 2.97809777e-01 -7.91444134e-02 1.47463341e+02] [ 8.43275878e-02 -4.57482946e-03 9.96427583e-01 2.46704565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39710568099997 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:235.54, Y:147.52, Z:24.67 [[ 3.06562558e-01 -9.51394991e-01 -2.94443366e-02 2.35542956e+02] [ 9.48103717e-01 3.07951685e-01 -7.91523950e-02 1.47524563e+02] [ 8.43726253e-02 -3.65112427e-03 9.96427584e-01 2.46735245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457105681 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:147.58, Z:24.67 [[ 3.11924596e-01 -9.49651380e-01 -2.94160362e-02 2.35550941e+02] [ 9.46351345e-01 3.13292779e-01 -7.91629112e-02 1.47584671e+02] [ 8.43929996e-02 -3.14504637e-03 9.96427584e-01 2.46706302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517105681 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:235.56, Y:147.64, Z:24.66 [[ 3.16135613e-01 -9.48258710e-01 -2.93886523e-02 2.35562602e+02] [ 9.44951703e-01 3.17486855e-01 -7.91730760e-02 1.47641917e+02] [ 8.44070697e-02 -2.74142813e-03 9.96427585e-01 2.46619005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577105681 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:147.70, Z:24.68 [[ 3.27745408e-01 -9.44309943e-01 -2.93543665e-02 2.35572936e+02] [ 9.40985476e-01 3.29053103e-01 -7.91857859e-02 1.47698366e+02] [ 8.44350704e-02 -1.66925482e-03 9.96427585e-01 2.46833746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637105681 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:147.75, Z:24.69 [[ 3.38745119e-01 -9.40421271e-01 -2.93185368e-02 2.35588891e+02] [ 9.37080623e-01 3.40010905e-01 -7.91990497e-02 1.47753595e+02] [ 8.44490932e-02 -6.45541242e-04 9.96427586e-01 2.46892225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697105681 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:147.81, Z:24.69 [[ 3.46589356e-01 -9.37559149e-01 -2.93029029e-02 2.35606403e+02] [ 9.34207557e-01 3.47825870e-01 -7.92048337e-02 1.47807587e+02] [ 8.44515242e-02 7.65589288e-05 9.96427586e-01 2.46928229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757105681 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:235.62, Y:147.86, Z:24.70 [[ 3.56576985e-01 -9.33807213e-01 -2.92735806e-02 2.35624211e+02] [ 9.30441727e-01 3.57775167e-01 -7.92156696e-02 1.47863256e+02] [ 8.44455238e-02 1.00912372e-03 9.96427587e-01 2.47023051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817105681 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:147.92, Z:24.71 [[ 3.67864557e-01 -9.29419286e-01 -2.92482289e-02 2.35645604e+02] [ 9.26038792e-01 3.69019717e-01 -7.92250289e-02 1.47916133e+02] [ 8.44264429e-02 2.05908563e-03 9.96427587e-01 2.47090368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877105681 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:147.97, Z:24.71 [[ 3.73519154e-01 -9.27162064e-01 -2.92224005e-02 2.35674962e+02] [ 9.23773859e-01 3.74651496e-01 -7.92345547e-02 1.47967166e+02] [ 8.44114893e-02 2.60073417e-03 9.96427587e-01 2.47131978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937105681 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:148.02, Z:24.71 [[ 3.78629560e-01 -9.25087771e-01 -2.91936996e-02 2.35707143e+02] [ 9.21692565e-01 3.79740734e-01 -7.92451281e-02 1.48016248e+02] [ 8.43947358e-02 3.09693212e-03 9.96427588e-01 2.47086695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:148.07, Z:24.71 [[ 3.80808318e-01 -9.24193724e-01 -2.91716584e-02 2.35742121e+02] [ 9.20795298e-01 3.81909602e-01 -7.92532411e-02 1.48065047e+02] [ 8.43862844e-02 3.31916759e-03 9.96427588e-01 2.47139471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.78, Y:148.11, Z:24.72 [[ 3.69924263e-01 -9.28604722e-01 -2.91429169e-02 2.35778062e+02] [ 9.25218644e-01 3.71062945e-01 -7.92638085e-02 1.48111637e+02] [ 8.44186034e-02 2.35803580e-03 9.96427588e-01 2.47245123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.82, Y:148.16, Z:24.74 [[ 3.56199785e-01 -9.33955685e-01 -2.91288947e-02 2.35818251e+02] [ 9.30586335e-01 3.57387052e-01 -7.92689612e-02 1.48158749e+02] [ 8.44439868e-02 1.12863558e-03 9.96427589e-01 2.47351693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.85, Y:148.21, Z:24.74 [[ 3.45627972e-01 -9.37920274e-01 -2.91009270e-02 2.35849925e+02] [ 9.34563688e-01 3.46850857e-01 -7.92792273e-02 1.48207541e+02] [ 8.44512761e-02 2.04448813e-04 9.96427589e-01 2.47377704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:148.26, Z:24.74 [[ 3.42741844e-01 -9.38979762e-01 -2.90694822e-02 2.35882954e+02] [ 9.35625978e-01 3.43972392e-01 -7.92907556e-02 1.48257998e+02] [ 8.44515142e-02 -2.19028309e-05 9.96427590e-01 2.47405608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:148.31, Z:24.76 [[ 3.54555161e-01 -9.34583957e-01 -2.90424588e-02 2.35910420e+02] [ 9.31214115e-01 3.55741027e-01 -7.93006525e-02 1.48309313e+02] [ 8.44447118e-02 1.07170809e-03 9.96427590e-01 2.47566479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:235.93, Y:148.36, Z:24.77 [[ 3.63461960e-01 -9.31157116e-01 -2.90143038e-02 2.35932995e+02] [ 9.27775289e-01 3.64613201e-01 -7.93109525e-02 1.48361829e+02] [ 8.44299559e-02 1.90776018e-03 9.96427590e-01 2.47658181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.97, Y:148.41, Z:24.77 [[ 3.69654884e-01 -9.28716892e-01 -2.89862225e-02 2.35965263e+02] [ 9.25326677e-01 3.70781183e-01 -7.93212142e-02 1.48409971e+02] [ 8.44144974e-02 2.49974922e-03 9.96427591e-01 2.47741938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:148.46, Z:24.77 [[ 3.73713223e-01 -9.27091974e-01 -2.89637536e-02 2.35995426e+02] [ 9.23696238e-01 3.74822764e-01 -7.93294178e-02 1.48460715e+02] [ 8.44019407e-02 2.89274224e-03 9.96427591e-01 2.47728134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:148.51, Z:24.76 [[ 3.79612506e-01 -9.24693031e-01 -2.89334415e-02 2.36024934e+02] [ 9.21289466e-01 3.80697793e-01 -7.93404719e-02 1.48512626e+02] [ 8.43804788e-02 3.46256048e-03 9.96427592e-01 2.47640750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59710568099996 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:236.05, Y:148.56, Z:24.76 [[ 3.83410194e-01 -9.23125774e-01 -2.89037733e-02 2.36052589e+02] [ 9.19716979e-01 3.84478938e-01 -7.93512786e-02 1.48564397e+02] [ 8.43641026e-02 3.84079807e-03 9.96427592e-01 2.47625816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65710568099996 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:236.09, Y:148.61, Z:24.77 [[ 3.81818741e-01 -9.23786086e-01 -2.88741471e-02 2.36087068e+02] [ 9.20378338e-01 3.82890818e-01 -7.93620575e-02 1.48613645e+02] [ 8.43692103e-02 3.72678141e-03 9.96427593e-01 2.47710787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71710568099996 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:148.66, Z:24.79 [[ 3.81678322e-01 -9.23845009e-01 -2.88454127e-02 2.36118205e+02] [ 9.20436650e-01 3.82748454e-01 -7.93725002e-02 1.48663792e+02] [ 8.43684252e-02 3.74438768e-03 9.96427593e-01 2.47859029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77710568099997 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:236.15, Y:148.71, Z:24.79 [[ 3.86441094e-01 -9.21863783e-01 -2.88174698e-02 2.36150728e+02] [ 9.18449209e-01 3.87491222e-01 -7.93826440e-02 1.48713466e+02] [ 8.43465011e-02 4.20933345e-03 9.96427594e-01 2.47916989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83710568099997 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:148.76, Z:24.80 [[ 3.88562758e-01 -9.20972457e-01 -2.87874206e-02 2.36182659e+02] [ 9.17554688e-01 3.89602439e-01 -7.93935397e-02 1.48761916e+02] [ 8.43349126e-02 4.43534008e-03 9.96427594e-01 2.47978462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89710568099997 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:148.81, Z:24.80 [[ 3.87307659e-01 -9.21501958e-01 -2.87561840e-02 2.36219428e+02] [ 9.18084790e-01 3.88349312e-01 -7.94048519e-02 1.48811041e+02] [ 8.43391708e-02 4.35349218e-03 9.96427595e-01 2.48031752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957105681 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:148.86, Z:24.81 [[ 3.81918179e-01 -9.23749548e-01 -2.87276519e-02 2.36251759e+02] [ 9.20337762e-01 3.82977328e-01 -7.94151732e-02 1.48859495e+02] [ 8.43617697e-02 3.89095544e-03 9.96427595e-01 2.48088031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017105681 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:148.91, Z:24.81 [[ 3.83996326e-01 -9.22888194e-01 -2.87089293e-02 2.36279773e+02] [ 9.19473539e-01 3.85046187e-01 -7.94219409e-02 1.48909821e+02] [ 8.43518354e-02 4.10063266e-03 9.96427595e-01 2.48140713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077105681 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:148.96, Z:24.82 [[ 3.92472164e-01 -9.19316689e-01 -2.86779776e-02 2.36309578e+02] [ 9.15891727e-01 3.93487896e-01 -7.94331155e-02 1.48959922e+02] [ 8.43086258e-02 4.90936429e-03 9.96427596e-01 2.48245931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137105681 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:149.01, Z:24.83 [[ 3.98242242e-01 -9.16832860e-01 -2.86465178e-02 2.36339154e+02] [ 9.13400799e-01 3.99233715e-01 -7.94444595e-02 1.49009976e+02] [ 8.42739468e-02 5.47238740e-03 9.96427596e-01 2.48250214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197105681 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:236.37, Y:149.06, Z:24.83 [[ 3.91530116e-01 -9.19719954e-01 -2.86247190e-02 2.36372077e+02] [ 9.16294675e-01 3.92544773e-01 -7.94523131e-02 1.49059392e+02] [ 8.43103616e-02 4.87929575e-03 9.96427597e-01 2.48258578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257105681 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:149.11, Z:24.84 [[ 3.76769967e-01 -9.25865344e-01 -2.85964506e-02 2.36407203e+02] [ 9.22455973e-01 3.77836857e-01 -7.94624862e-02 1.49107518e+02] [ 8.43763552e-02 3.56011159e-03 9.96427597e-01 2.48379447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317105681 meters Centerline goodness : 0.998570 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:149.16, Z:24.84 [[ 3.65343203e-01 -9.30434487e-01 -2.85658673e-02 2.36439411e+02] [ 9.27037659e-01 3.66449376e-01 -7.94734791e-02 1.49157781e+02] [ 8.44128100e-02 2.55346066e-03 9.96427598e-01 2.48435999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377105681 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:149.21, Z:24.84 [[ 3.60165065e-01 -9.32452036e-01 -2.85364197e-02 2.36470225e+02] [ 9.29060579e-01 3.61287595e-01 -7.94840514e-02 1.49208734e+02] [ 8.44249200e-02 2.11531590e-03 9.96427598e-01 2.48407348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437105681 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:236.49, Y:149.26, Z:24.84 [[ 3.59261989e-01 -9.32801256e-01 -2.85068645e-02 2.36494945e+02] [ 9.29410053e-01 3.60385286e-01 -7.94946500e-02 1.49259470e+02] [ 8.44261639e-02 2.06483962e-03 9.96427599e-01 2.48423369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters Centerline goodness : 0.997820 with order 1 Centerline is valid? [True, True] Translation: X:236.52, Y:149.31, Z:24.86 [[ 3.53655438e-01 -9.34942327e-01 -2.84723804e-02 2.36515460e+02] [ 9.31556941e-01 3.54796143e-01 -7.95069992e-02 1.49312633e+02] [ 8.44363496e-02 1.59443902e-03 9.96427599e-01 2.48562885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:149.37, Z:24.86 [[ 3.48638232e-01 -9.36825673e-01 -2.84436481e-02 2.36537589e+02] [ 9.33445616e-01 3.49794631e-01 -7.95172769e-02 1.49366619e+02] [ 8.44432619e-02 1.17216421e-03 9.96427600e-01 2.48609161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:149.42, Z:24.87 [[ 3.37575972e-01 -9.40869362e-01 -2.84131446e-02 2.36556647e+02] [ 9.37502251e-01 3.38769537e-01 -7.95281750e-02 1.49419695e+02] [ 8.44511312e-02 2.09413894e-04 9.96427600e-01 2.48676514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:236.57, Y:149.48, Z:24.87 [[ 3.31106463e-01 -9.43166534e-01 -2.83795534e-02 2.36567036e+02] [ 9.39806675e-01 3.32320293e-01 -7.95401603e-02 1.49476194e+02] [ 8.44507188e-02 -3.35032504e-04 9.96427601e-01 2.48698979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:236.57, Y:149.53, Z:24.88 [[ 3.25417111e-01 -9.45145269e-01 -2.83571031e-02 2.36573890e+02] [ 9.41792090e-01 3.26649275e-01 -7.95481633e-02 1.49534019e+02] [ 8.44473973e-02 -8.20161902e-04 9.96427601e-01 2.48787667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:149.59, Z:24.89 [[ 3.33426711e-01 -9.42350472e-01 -2.83234194e-02 2.36580332e+02] [ 9.38985942e-01 3.34627529e-01 -7.95601548e-02 1.49591148e+02] [ 8.44513452e-02 -6.78118911e-05 9.96427602e-01 2.48869556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters Centerline goodness : 0.997876 with order 1 Centerline is valid? [True, True] Translation: X:236.59, Y:149.65, Z:24.89 [[ 3.51253734e-01 -9.35852654e-01 -2.82953237e-02 2.36587744e+02] [ 9.32465136e-01 3.52388084e-01 -7.95701457e-02 1.49649796e+02] [ 8.44368669e-02 1.56490790e-03 9.96427602e-01 2.48865257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:236.59, Y:149.71, Z:24.90 [[ 3.60676989e-01 -9.32262432e-01 -2.82642264e-02 2.36589276e+02] [ 9.28862787e-01 3.61774456e-01 -7.95811903e-02 1.49709553e+02] [ 8.44158292e-02 2.44951600e-03 9.96427603e-01 2.48964339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:236.61, Y:149.76, Z:24.89 [[ 3.67469819e-01 -9.29606936e-01 -2.82289860e-02 2.36610911e+02] [ 9.26198428e-01 3.68539438e-01 -7.95936889e-02 1.49763736e+02] [ 8.43943399e-02 3.10263605e-03 9.96427604e-01 2.48937600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:236.63, Y:149.82, Z:24.90 [[ 3.58737681e-01 -9.33012630e-01 -2.81905911e-02 2.36627077e+02] [ 9.29613241e-01 3.59835938e-01 -7.96072854e-02 1.49818116e+02] [ 8.44185904e-02 2.35178617e-03 9.96427604e-01 2.48986226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09710568099996 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:236.64, Y:149.88, Z:24.90 [[ 3.57317704e-01 -9.33558355e-01 -2.81577154e-02 2.36642018e+02] [ 9.30159733e-01 3.58418330e-01 -7.96189121e-02 1.49875132e+02] [ 8.44211419e-02 2.25807378e-03 9.96427605e-01 2.48976318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15710568099996 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:149.93, Z:24.90 [[ 3.52285148e-01 -9.35470020e-01 -2.81250118e-02 2.36660073e+02] [ 9.32076459e-01 3.53401279e-01 -7.96304629e-02 1.49930087e+02] [ 8.44313258e-02 1.83796797e-03 9.96427606e-01 2.48967162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21710568099996 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:149.99, Z:24.92 [[ 3.49624419e-01 -9.36468434e-01 -2.81004828e-02 2.36673187e+02] [ 9.33077369e-01 3.50748107e-01 -7.96391179e-02 1.49985118e+02] [ 8.44357112e-02 1.62385580e-03 9.96427606e-01 2.49152555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27710568099997 meters Centerline goodness : 0.997891 with order 1 Centerline is valid? [True, True] Translation: X:236.69, Y:150.04, Z:24.92 [[ 3.47806133e-01 -9.37146168e-01 -2.80705306e-02 2.36693227e+02] [ 9.33756442e-01 3.48933856e-01 -7.96496739e-02 1.50039778e+02] [ 8.44381451e-02 1.49160625e-03 9.96427606e-01 2.49211701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33710568099997 meters Centerline goodness : 0.997178 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:150.09, Z:24.92 [[ 3.43130831e-01 -9.38868641e-01 -2.80518673e-02 2.36712039e+02] [ 9.35484044e-01 3.44273852e-01 -7.96562464e-02 1.50094453e+02] [ 8.44442762e-02 1.09043977e-03 9.96427607e-01 2.49201189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39710568099997 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:236.74, Y:150.15, Z:24.93 [[ 3.51591499e-01 -9.35734039e-01 -2.80219008e-02 2.36735651e+02] [ 9.32338428e-01 3.52701373e-01 -7.96667868e-02 1.50147625e+02] [ 8.44302871e-02 1.88427004e-03 9.96427607e-01 2.49273645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457105681 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:236.75, Y:150.20, Z:24.94 [[ 3.56317970e-01 -9.33945459e-01 -2.79889876e-02 2.36749026e+02] [ 9.30543382e-01 3.57407856e-01 -7.96783484e-02 1.50202573e+02] [ 8.44187158e-02 2.34586017e-03 9.96427608e-01 2.49403150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517105681 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:150.26, Z:24.95 [[ 3.69087195e-01 -9.28974114e-01 -2.79595757e-02 2.36767057e+02] [ 9.25556648e-01 3.70127825e-01 -7.96886680e-02 1.50257192e+02] [ 8.43773267e-02 3.53389580e-03 9.96427608e-01 2.49490556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577105681 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:236.79, Y:150.31, Z:24.95 [[ 3.74134814e-01 -9.26953659e-01 -2.79294645e-02 2.36788954e+02] [ 9.23529814e-01 3.75154258e-01 -7.96992200e-02 1.50310512e+02] [ 8.43553412e-02 4.02455972e-03 9.96427609e-01 2.49541463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637105681 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:236.81, Y:150.36, Z:24.95 [[ 3.79702962e-01 -9.24687665e-01 -2.78995114e-02 2.36814266e+02] [ 9.21257003e-01 3.80699221e-01 -7.97097041e-02 1.50362771e+02] [ 8.43279024e-02 4.56339046e-03 9.96427609e-01 2.49464681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697105681 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:150.41, Z:24.94 [[ 3.84373145e-01 -9.22756940e-01 -2.78731796e-02 2.36850847e+02] [ 9.19320641e-01 3.85349782e-01 -7.97189109e-02 1.50412394e+02] [ 8.43021020e-02 5.01741919e-03 9.96427610e-01 2.49408115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757105681 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:236.87, Y:150.47, Z:24.96 [[ 3.73164009e-01 -9.27347479e-01 -2.78437627e-02 2.36869041e+02] [ 9.23922517e-01 3.74179688e-01 -7.97291841e-02 1.50465913e+02] [ 8.43552284e-02 4.02658263e-03 9.96427610e-01 2.49551493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817105681 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:150.52, Z:24.97 [[ 3.57874231e-01 -9.33355475e-01 -2.78135280e-02 2.36893593e+02] [ 9.29946856e-01 3.58943477e-01 -7.97397302e-02 1.50516483e+02] [ 8.44089982e-02 2.67169166e-03 9.96427611e-01 2.49666863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877105681 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:150.57, Z:24.97 [[ 3.41338724e-01 -9.39529550e-01 -2.77867041e-02 2.36919275e+02] [ 9.36139585e-01 3.42465711e-01 -7.97490764e-02 1.50569214e+02] [ 8.44426072e-02 1.20921430e-03 9.96427611e-01 2.49694915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937105681 meters Centerline goodness : 0.998104 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:150.62, Z:24.97 [[ 3.39167721e-01 -9.40316331e-01 -2.77570740e-02 2.36941049e+02] [ 9.36928138e-01 3.40300022e-01 -7.97593880e-02 1.50622441e+02] [ 8.44447880e-02 1.04542617e-03 9.96427611e-01 2.49705423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters Centerline goodness : 0.998155 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:150.68, Z:24.98 [[ 3.33072211e-01 -9.42493632e-01 -2.77246408e-02 2.36957762e+02] [ 9.39111906e-01 3.34223682e-01 -7.97706603e-02 1.50677661e+02] [ 8.44495709e-02 5.32849894e-04 9.96427612e-01 2.49814581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:236.97, Y:150.73, Z:24.98 [[ 3.41279125e-01 -9.39553903e-01 -2.76951461e-02 2.36974282e+02] [ 9.36161437e-01 3.42398556e-01 -7.97808992e-02 1.50732968e+02] [ 8.44412333e-02 1.30042770e-03 9.96427613e-01 2.49823336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:150.79, Z:25.00 [[ 3.65832047e-01 -9.30269774e-01 -2.76597416e-02 2.36985379e+02] [ 9.26848173e-01 3.66858983e-01 -7.97931720e-02 1.50788448e+02] [ 8.43764007e-02 3.55451846e-03 9.96427613e-01 2.50028476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:237.02, Y:150.84, Z:24.99 [[ 3.82727360e-01 -9.23448173e-01 -2.76267965e-02 2.37016637e+02] [ 9.20007630e-01 3.83688924e-01 -7.98045770e-02 1.50840373e+02] [ 8.42954866e-02 5.12653149e-03 9.96427614e-01 2.49909314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:150.90, Z:25.00 [[ 3.68279070e-01 -9.29305692e-01 -2.75945187e-02 2.37026920e+02] [ 9.25879746e-01 3.69291409e-01 -7.98157364e-02 1.50896592e+02] [ 8.43636368e-02 3.84525920e-03 9.96427614e-01 2.50044660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters Centerline goodness : 0.998172 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:150.95, Z:25.00 [[ 3.70612133e-01 -9.28378616e-01 -2.75643336e-02 2.37054380e+02] [ 9.24949381e-01 3.71613276e-01 -7.98261594e-02 1.50947807e+02] [ 8.43521717e-02 4.08892993e-03 9.96427615e-01 2.50012547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:237.07, Y:151.00, Z:25.01 [[ 3.73672575e-01 -9.27152057e-01 -2.75294575e-02 2.37074879e+02] [ 9.23718677e-01 3.74659405e-01 -7.98381853e-02 1.50999943e+02] [ 8.43363079e-02 4.40386619e-03 9.96427616e-01 2.50100089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:237.10, Y:151.05, Z:25.01 [[ 3.74608813e-01 -9.26775209e-01 -2.74945335e-02 2.37101108e+02] [ 9.23339978e-01 3.75589176e-01 -7.98502107e-02 1.51052763e+02] [ 8.43298449e-02 4.52579068e-03 9.96427616e-01 2.50111646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters Centerline goodness : 0.996931 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:151.11, Z:25.01 [[ 3.43586698e-01 -9.38719314e-01 -2.74632574e-02 2.37111697e+02] [ 9.35317725e-01 3.44678080e-01 -7.98609662e-02 1.51110852e+02] [ 8.44330142e-02 1.75229422e-03 9.96427617e-01 2.50074598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters Centerline goodness : 0.997961 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:151.16, Z:25.03 [[ 3.49149382e-01 -9.36665195e-01 -2.74412465e-02 2.37148406e+02] [ 9.33256603e-01 3.50218691e-01 -7.98685287e-02 1.51157806e+02] [ 8.44205084e-02 2.27632298e-03 9.96427617e-01 2.50272445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59710568099996 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:237.17, Y:151.21, Z:25.02 [[ 3.37809228e-01 -9.40815483e-01 -2.74071769e-02 2.37174048e+02] [ 9.37419113e-01 3.38916741e-01 -7.98802182e-02 1.51209657e+02] [ 8.44412971e-02 1.29226330e-03 9.96427618e-01 2.50246429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65710568099996 meters Centerline goodness : 0.997332 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:151.26, Z:25.03 [[ 3.34564365e-01 -9.41975187e-01 -2.73757659e-02 2.37196199e+02] [ 9.38581778e-01 3.35680916e-01 -7.98909816e-02 1.51261942e+02] [ 8.44448446e-02 1.03428056e-03 9.96427618e-01 2.50336808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71710568099996 meters Centerline goodness : 0.997000 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:151.32, Z:25.05 [[ 3.38910536e-01 -9.40420980e-01 -2.73501147e-02 2.37208369e+02] [ 9.37021747e-01 3.40009227e-01 -7.98997622e-02 1.51316891e+02] [ 8.44387040e-02 1.45121900e-03 9.96427619e-01 2.50457296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77710568099997 meters Centerline goodness : 0.997433 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:151.37, Z:25.05 [[ 3.51941942e-01 -9.35623100e-01 -2.73182033e-02 2.37225831e+02] [ 9.32208095e-01 3.52990583e-01 -7.99106715e-02 1.51371098e+02] [ 8.44093387e-02 2.65766664e-03 9.96427619e-01 2.50540073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83710568099997 meters Centerline goodness : 0.996738 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:151.43, Z:25.06 [[ 3.61853538e-01 -9.31835668e-01 -2.72819506e-02 2.37242598e+02] [ 9.28408810e-01 3.62862767e-01 -7.99230465e-02 1.51426905e+02] [ 8.43747495e-02 3.59163380e-03 9.96427620e-01 2.50563880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89710568099997 meters Centerline goodness : 0.996756 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:151.48, Z:25.06 [[ 3.73923200e-01 -9.27059266e-01 -2.72499188e-02 2.37262214e+02] [ 9.23618822e-01 3.74885094e-01 -7.99339664e-02 1.51482053e+02] [ 8.43191125e-02 4.72062662e-03 9.96427621e-01 2.50559195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957105681 meters Centerline goodness : 0.996653 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:151.54, Z:25.05 [[ 3.75804026e-01 -9.26299256e-01 -2.72217131e-02 2.37285318e+02] [ 9.22856196e-01 3.76756509e-01 -7.99435708e-02 1.51535990e+02] [ 8.43076278e-02 4.92138913e-03 9.96427621e-01 2.50511767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017105681 meters Centerline goodness : 0.996759 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:151.59, Z:25.06 [[ 3.72948941e-01 -9.27453273e-01 -2.71940063e-02 2.37306772e+02] [ 9.24012498e-01 3.73909645e-01 -7.99529946e-02 1.51589320e+02] [ 8.43207678e-02 4.69078295e-03 9.96427621e-01 2.50580060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077105681 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:237.33, Y:151.64, Z:25.07 [[ 3.71635898e-01 -9.27981123e-01 -2.71623839e-02 2.37328664e+02] [ 9.24540950e-01 3.72598756e-01 -7.99637363e-02 1.51641956e+02] [ 8.43255082e-02 4.60465870e-03 9.96427622e-01 2.50696934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137105681 meters Centerline goodness : 0.996315 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:151.69, Z:25.08 [[ 3.70183694e-01 -9.28562258e-01 -2.71323722e-02 2.37353847e+02] [ 9.25122872e-01 3.71149356e-01 -7.99739182e-02 1.51694533e+02] [ 8.43309246e-02 4.50426243e-03 9.96427622e-01 2.50788269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197105681 meters Centerline goodness : 0.995586 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:151.75, Z:25.09 [[ 3.71292185e-01 -9.28120166e-01 -2.71122002e-02 2.37379337e+02] [ 9.24679146e-01 3.72252007e-01 -7.99807562e-02 1.51746075e+02] [ 8.43243237e-02 4.62614361e-03 9.96427623e-01 2.50854132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257105681 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:151.80, Z:25.09 [[ 3.69651854e-01 -9.28775456e-01 -2.70861399e-02 2.37402602e+02] [ 9.25335510e-01 3.70615517e-01 -7.99895808e-02 1.51798514e+02] [ 8.43309032e-02 4.50452977e-03 9.96427623e-01 2.50909576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317105681 meters Centerline goodness : 0.993868 with order 1 Centerline is valid? [True, True] Translation: X:237.41, Y:151.86, Z:25.08 [[ 3.52577056e-01 -9.35391660e-01 -2.70529600e-02 2.37414821e+02] [ 9.31969094e-01 3.53600734e-01 -8.00008009e-02 1.51856497e+02] [ 8.43980285e-02 2.99392417e-03 9.96427624e-01 2.50844237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377105681 meters Centerline goodness : 0.995784 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:151.90, Z:25.10 [[ 3.67576112e-01 -9.29600908e-01 -2.70176532e-02 2.37451774e+02] [ 9.26161469e-01 3.68541581e-01 -8.00127229e-02 1.51902794e+02] [ 8.43370285e-02 4.38805617e-03 9.96427624e-01 2.51007439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437105681 meters Centerline goodness : 0.995314 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:151.96, Z:25.11 [[ 3.71139985e-01 -9.28184874e-01 -2.69805851e-02 2.37475840e+02] [ 9.24740878e-01 3.72089066e-01 -8.00252206e-02 1.51955545e+02] [ 8.43173800e-02 4.75050917e-03 9.96427625e-01 2.51070167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters Centerline goodness : 0.994546 with order 1 Centerline is valid? [True, True] Translation: X:237.49, Y:152.01, Z:25.10 [[ 3.60423026e-01 -9.32399664e-01 -2.69464041e-02 2.37491689e+02] [ 9.28965989e-01 3.61408791e-01 -8.00367285e-02 1.52013002e+02] [ 8.43648861e-02 3.81478697e-03 9.96427626e-01 2.50961427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters Centerline goodness : 0.995405 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:152.06, Z:25.11 [[ 3.69270284e-01 -9.28932347e-01 -2.69100907e-02 2.37526011e+02] [ 9.25488595e-01 3.70220244e-01 -8.00489361e-02 1.52060889e+02] [ 8.43227064e-02 4.65471128e-03 9.96427627e-01 2.51088632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters Centerline goodness : 0.995437 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:152.11, Z:25.12 [[ 3.62863851e-01 -9.31454283e-01 -2.68839157e-02 2.37546964e+02] [ 9.28016520e-01 3.63835263e-01 -8.00577259e-02 1.52114397e+02] [ 8.43514281e-02 4.10133687e-03 9.96427627e-01 2.51169691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters Centerline goodness : 0.994253 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:152.17, Z:25.11 [[ 3.43906498e-01 -9.38619824e-01 -2.68541899e-02 2.37554241e+02] [ 9.35201691e-01 3.44944868e-01 -8.00676958e-02 1.52173889e+02] [ 8.44163415e-02 2.42171707e-03 9.96427627e-01 2.51061130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters Centerline goodness : 0.994904 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:152.22, Z:25.13 [[ 3.58835253e-01 -9.33015537e-01 -2.68192074e-02 2.37583577e+02] [ 9.29580419e-01 3.59815971e-01 -8.00794117e-02 1.52223641e+02] [ 8.43653144e-02 3.80470587e-03 9.96427628e-01 2.51304189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters Centerline goodness : 0.995367 with order 1 Centerline is valid? [True, True] Translation: X:237.60, Y:152.28, Z:25.14 [[ 3.59248366e-01 -9.32857558e-01 -2.67841006e-02 2.37604619e+02] [ 9.29421151e-01 3.60224556e-01 -8.00911522e-02 1.52277768e+02] [ 8.43619274e-02 3.87890592e-03 9.96427629e-01 2.51393807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters Centerline goodness : 0.995575 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:152.33, Z:25.15 [[ 3.54223603e-01 -9.34778146e-01 -2.67480383e-02 2.37619039e+02] [ 9.31346150e-01 3.55215185e-01 -8.01031942e-02 1.52333422e+02] [ 8.43800247e-02 3.46275961e-03 9.96427629e-01 2.51466666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:237.64, Y:152.39, Z:25.15 [[ 3.44576276e-01 -9.38377803e-01 -2.67261899e-02 2.37637916e+02] [ 9.34955644e-01 3.45601293e-01 -8.01104832e-02 1.52385676e+02] [ 8.44105050e-02 2.61636988e-03 9.96427630e-01 2.51525399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters Centerline goodness : 0.995722 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:152.44, Z:25.15 [[ 3.43547793e-01 -9.38755703e-01 -2.66953864e-02 2.37654371e+02] [ 9.35333882e-01 3.44573933e-01 -8.01207466e-02 1.52441769e+02] [ 8.44123421e-02 2.55620623e-03 9.96427630e-01 2.51509393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters Centerline goodness : 0.995830 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:152.50, Z:25.15 [[ 3.45658243e-01 -9.37981661e-01 -2.66604998e-02 2.37670065e+02] [ 9.34556657e-01 3.46673708e-01 -8.01323537e-02 1.52498059e+02] [ 8.44051725e-02 2.78266098e-03 9.96427631e-01 2.51542141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09710568099996 meters Centerline goodness : 0.995624 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:152.55, Z:25.16 [[ 3.47903519e-01 -9.37152044e-01 -2.66305785e-02 2.37685512e+02] [ 9.33723869e-01 3.48908225e-01 -8.01422963e-02 1.52553790e+02] [ 8.43971447e-02 3.01618010e-03 9.96427631e-01 2.51620021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15710568099996 meters Centerline goodness : 0.995591 with order 1 Centerline is valid? [True, True] Translation: X:237.70, Y:152.61, Z:25.16 [[ 3.54261819e-01 -9.34767958e-01 -2.65975270e-02 2.37704356e+02] [ 9.31332230e-01 3.55240385e-01 -8.01532640e-02 1.52608333e+02] [ 8.43732186e-02 3.62410700e-03 9.96427632e-01 2.51581021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21710568099996 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:237.73, Y:152.66, Z:25.17 [[ 3.57127077e-01 -9.33678006e-01 -2.65637242e-02 2.37725103e+02] [ 9.30238481e-01 3.58092205e-01 -8.01644651e-02 1.52661824e+02] [ 8.43600605e-02 3.91830266e-03 9.96427633e-01 2.51681822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27710568099997 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:152.72, Z:25.17 [[ 3.53764261e-01 -9.34958171e-01 -2.65342572e-02 2.37739602e+02] [ 9.31521425e-01 3.54739241e-01 -8.01742175e-02 1.52716907e+02] [ 8.43722819e-02 3.64554369e-03 9.96427633e-01 2.51741191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33710568099997 meters Centerline goodness : 0.996502 with order 1 Centerline is valid? [True, True] Translation: X:237.76, Y:152.77, Z:25.17 [[ 3.62899458e-01 -9.31451307e-01 -2.65037058e-02 2.37764351e+02] [ 9.28004468e-01 3.63838128e-01 -8.01843158e-02 1.52768837e+02] [ 8.43308444e-02 4.50328737e-03 9.96427634e-01 2.51733394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39710568099997 meters Centerline goodness : 0.995815 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:152.82, Z:25.18 [[ 3.69315979e-01 -9.28926835e-01 -2.64696514e-02 2.37784031e+02] [ 9.25472829e-01 3.70227923e-01 -8.01955560e-02 1.52821826e+02] [ 8.42956081e-02 5.12055715e-03 9.96427634e-01 2.51830298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457105681 meters Centerline goodness : 0.995950 with order 1 Centerline is valid? [True, True] Translation: X:237.81, Y:152.87, Z:25.19 [[ 3.78611825e-01 -9.25178037e-01 -2.64326871e-02 2.37807221e+02] [ 9.21714256e-01 3.79485902e-01 -8.02077377e-02 1.52874459e+02] [ 8.42372694e-02 6.00421336e-03 9.96427635e-01 2.51905212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517105681 meters Centerline goodness : 0.996152 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:152.93, Z:25.19 [[ 3.78001135e-01 -9.25428747e-01 -2.63965340e-02 2.37827242e+02] [ 9.21964757e-01 3.78874382e-01 -8.02196341e-02 1.52928222e+02] [ 8.42385259e-02 5.98643870e-03 9.96427636e-01 2.51870715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577105681 meters Centerline goodness : 0.996793 with order 1 Centerline is valid? [True, True] Translation: X:237.85, Y:152.98, Z:25.19 [[ 3.74713969e-01 -9.26765731e-01 -2.63575846e-02 2.37851452e+02] [ 9.23304006e-01 3.75596151e-01 -8.02324296e-02 1.52980569e+02] [ 8.42564736e-02 5.72814863e-03 9.96427637e-01 2.51909700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637105681 meters Centerline goodness : 0.997585 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:153.03, Z:25.20 [[ 3.70739086e-01 -9.28363823e-01 -2.63276030e-02 2.37878029e+02] [ 9.24905243e-01 3.71633516e-01 -8.02422667e-02 1.53032749e+02] [ 8.42782371e-02 5.39840653e-03 9.96427637e-01 2.51968316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697105681 meters Centerline goodness : 0.997943 with order 1 Centerline is valid? [True, True] Translation: X:237.91, Y:153.08, Z:25.21 [[ 3.67680832e-01 -9.29580065e-01 -2.63003355e-02 2.37908956e+02] [ 9.26123836e-01 3.68584299e-01 -8.02512030e-02 1.53081961e+02] [ 8.42938092e-02 5.14946154e-03 9.96427638e-01 2.52081492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757105681 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:153.14, Z:25.21 [[ 3.67714435e-01 -9.29567621e-01 -2.62703684e-02 2.37933449e+02] [ 9.26110687e-01 3.68615200e-01 -8.02610116e-02 1.53135034e+02] [ 8.42916947e-02 5.18386361e-03 9.96427638e-01 2.52081660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817105681 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:153.19, Z:25.21 [[ 3.65272841e-01 -9.30530558e-01 -2.62418104e-02 2.37957654e+02] [ 9.27075355e-01 3.66180225e-01 -8.02703478e-02 1.53186880e+02] [ 8.43032435e-02 4.99244227e-03 9.96427638e-01 2.52123208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:153.24, Z:25.22 [[ 3.69017483e-01 -9.29052817e-01 -2.62099328e-02 2.37983061e+02] [ 9.25593282e-01 3.69908201e-01 -8.02807552e-02 1.53238148e+02] [ 8.42803308e-02 5.36526451e-03 9.96427639e-01 2.52195108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:238.00, Y:153.29, Z:25.23 [[ 3.75116895e-01 -9.26607483e-01 -2.61894430e-02 2.38002483e+02] [ 9.23141726e-01 3.75983086e-01 -8.02874389e-02 1.53291571e+02] [ 8.42417293e-02 5.94060713e-03 9.96427639e-01 2.52320323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:238.02, Y:153.35, Z:25.25 [[ 3.72438347e-01 -9.27688201e-01 -2.61587499e-02 2.38023928e+02] [ 9.24224293e-01 3.73311904e-01 -8.02974379e-02 1.53345374e+02] [ 8.42563584e-02 5.72929287e-03 9.96427640e-01 2.52465527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:238.04, Y:153.40, Z:25.24 [[ 3.69137871e-01 -9.29007315e-01 -2.61274029e-02 2.38042643e+02] [ 9.25545846e-01 3.70021040e-01 -8.03076364e-02 1.53400249e+02] [ 8.42740705e-02 5.46248068e-03 9.96427640e-01 2.52421129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:238.06, Y:153.45, Z:25.25 [[ 3.62402531e-01 -9.31656281e-01 -2.60955829e-02 2.38062082e+02] [ 9.28200580e-01 3.63308004e-01 -8.03179749e-02 1.53454327e+02] [ 8.43094799e-02 4.88550221e-03 9.96427641e-01 2.52464030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:153.51, Z:25.26 [[ 3.58666757e-01 -9.33101488e-01 -2.60724216e-02 2.38085455e+02] [ 9.29648914e-01 3.59584081e-01 -8.03254927e-02 1.53506262e+02] [ 8.43270645e-02 4.57188558e-03 9.96427641e-01 2.52560865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:153.56, Z:25.25 [[ 3.53184910e-01 -9.35191045e-01 -2.60409171e-02 2.38101409e+02] [ 9.31743181e-01 3.54119780e-01 -8.03357050e-02 1.53561199e+02] [ 8.43508357e-02 4.10991182e-03 9.96427642e-01 2.52506152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:153.61, Z:25.26 [[ 3.57489211e-01 -9.33554824e-01 -2.60164120e-02 2.38125034e+02] [ 9.30102132e-01 3.58406086e-01 -8.03436401e-02 1.53613920e+02] [ 8.43296333e-02 4.52406428e-03 9.96427642e-01 2.52590547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:153.67, Z:25.26 [[ 3.55350585e-01 -9.34371791e-01 -2.59868697e-02 2.38138243e+02] [ 9.30920531e-01 3.56272831e-01 -8.03531944e-02 1.53671317e+02] [ 8.43381738e-02 4.36184406e-03 9.96427643e-01 2.52591879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:238.16, Y:153.72, Z:25.28 [[ 3.59005102e-01 -9.32974557e-01 -2.59579133e-02 2.38159255e+02] [ 9.29519060e-01 3.59911347e-01 -8.03625476e-02 1.53723920e+02] [ 8.43187598e-02 4.72218939e-03 9.96427643e-01 2.52801398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:153.78, Z:25.27 [[ 3.51553745e-01 -9.35808610e-01 -2.59270023e-02 2.38181815e+02] [ 9.32359735e-01 3.52484869e-01 -8.03725191e-02 1.53779060e+02] [ 8.43521714e-02 4.08196708e-03 9.96427644e-01 2.52705720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53710568099996 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:238.20, Y:153.83, Z:25.27 [[ 3.52427127e-01 -9.35480554e-01 -2.59085610e-02 2.38199119e+02] [ 9.32030386e-01 3.53353451e-01 -8.03784634e-02 1.53834871e+02] [ 8.43473689e-02 4.17998486e-03 9.96427644e-01 2.52730294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59710568099996 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:153.89, Z:25.30 [[ 3.49890181e-01 -9.36433279e-01 -2.58761388e-02 2.38213099e+02] [ 9.32984884e-01 3.50823077e-01 -8.03888997e-02 1.53889978e+02] [ 8.43567876e-02 3.98524028e-03 9.96427644e-01 2.52953795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65710568099996 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:153.95, Z:25.29 [[ 3.50997664e-01 -9.36019577e-01 -2.58455355e-02 2.38227208e+02] [ 9.32569376e-01 3.51923858e-01 -8.03987377e-02 1.53946974e+02] [ 8.43504530e-02 4.11701417e-03 9.96427645e-01 2.52946213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71710568099996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:238.24, Y:154.00, Z:25.30 [[ 3.55746361e-01 -9.34225987e-01 -2.58134044e-02 2.38242859e+02] [ 9.30770404e-01 3.56652266e-01 -8.04090527e-02 1.54003528e+02] [ 8.43266358e-02 4.57887500e-03 9.96427645e-01 2.52985287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77710568099997 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:238.26, Y:154.06, Z:25.31 [[ 3.56781327e-01 -9.33832050e-01 -2.57834640e-02 2.38261797e+02] [ 9.30374796e-01 3.57680834e-01 -8.04186521e-02 1.54058470e+02] [ 8.43197656e-02 4.70358834e-03 9.96427646e-01 2.53056844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83710568099997 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:154.11, Z:25.32 [[ 3.57889166e-01 -9.33408892e-01 -2.57523816e-02 2.38280354e+02] [ 9.29949884e-01 3.58781901e-01 -8.04286044e-02 1.54112755e+02] [ 8.43122629e-02 4.83610184e-03 9.96427646e-01 2.53168156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89710568099997 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:154.17, Z:25.33 [[ 3.52362811e-01 -9.35509937e-01 -2.57217156e-02 2.38292254e+02] [ 9.32055576e-01 3.53273358e-01 -8.04384105e-02 1.54168883e+02] [ 8.43377292e-02 4.36943600e-03 9.96427647e-01 2.53256243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:238.32, Y:154.22, Z:25.32 [[ 3.55672007e-01 -9.34257760e-01 -2.56877721e-02 2.38315021e+02] [ 9.30799442e-01 3.56567408e-01 -8.04492488e-02 1.54222638e+02] [ 8.43197573e-02 4.70338188e-03 9.96427648e-01 2.53219187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:154.28, Z:25.34 [[ 3.33444692e-01 -9.42420671e-01 -2.56498837e-02 2.38325567e+02] [ 9.38983615e-01 3.34418520e-01 -8.04613271e-02 1.54278620e+02] [ 8.44062140e-02 2.74458193e-03 9.96427648e-01 2.53360099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077105681 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:154.33, Z:25.34 [[ 3.19561224e-01 -9.47219488e-01 -2.56098814e-02 2.38339262e+02] [ 9.43796098e-01 3.20582052e-01 -8.04740575e-02 1.54333738e+02] [ 8.44366638e-02 1.54588217e-03 9.96427649e-01 2.53400421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137105681 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:238.36, Y:154.39, Z:25.35 [[ 3.12251460e-01 -9.49655085e-01 -2.55782202e-02 2.38357450e+02] [ 9.46238843e-01 3.13295959e-01 -8.04841196e-02 1.54388282e+02] [ 8.44457065e-02 9.28178314e-04 9.96427650e-01 2.53464039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197105681 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:154.44, Z:25.35 [[ 3.06405014e-01 -9.51558355e-01 -2.55472965e-02 2.38369098e+02] [ 9.48147786e-01 3.07467888e-01 -8.04939343e-02 1.54444689e+02] [ 8.44496490e-02 4.41132439e-04 9.96427650e-01 2.53513712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:238.38, Y:154.50, Z:25.37 [[ 3.03607680e-01 -9.52455487e-01 -2.55131879e-02 2.38382154e+02] [ 9.49047150e-01 3.04677689e-01 -8.05047438e-02 1.54499060e+02] [ 8.44504841e-02 2.28640212e-04 9.96427651e-01 2.53700248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317105681 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:154.56, Z:25.38 [[ 3.02203547e-01 -9.52902909e-01 -2.54766814e-02 2.38386556e+02] [ 9.49495182e-01 3.03275493e-01 -8.05162952e-02 1.54557668e+02] [ 8.44506650e-02 1.42323788e-04 9.96427652e-01 2.53780378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377105681 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:154.62, Z:25.37 [[ 3.11088073e-01 -9.50040493e-01 -2.54415553e-02 2.38387269e+02] [ 9.46622001e-01 3.12125177e-01 -8.05273929e-02 1.54617659e+02] [ 8.44452339e-02 9.67575549e-04 9.96427652e-01 2.53734229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437105681 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:154.68, Z:25.38 [[ 3.15704756e-01 -9.48517207e-01 -2.54089509e-02 2.38390886e+02] [ 9.45092889e-01 3.16722454e-01 -8.05376793e-02 1.54676329e+02] [ 8.44389599e-02 1.41230957e-03 9.96427653e-01 2.53752587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters Centerline goodness : 0.998223 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:154.73, Z:25.37 [[ 3.24245672e-01 -9.45632452e-01 -2.53773595e-02 2.38396964e+02] [ 9.42198324e-01 3.25229760e-01 -8.05476326e-02 1.54734304e+02] [ 8.44219278e-02 2.20671569e-03 9.96427653e-01 2.53678718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:154.79, Z:25.37 [[ 3.29105355e-01 -9.43953078e-01 -2.53426813e-02 2.38406958e+02] [ 9.40513106e-01 3.30068810e-01 -8.05585419e-02 1.54791057e+02] [ 8.44083123e-02 2.67712373e-03 9.96427654e-01 2.53724977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:238.43, Y:154.84, Z:25.39 [[ 3.36510050e-01 -9.41339691e-01 -2.53095083e-02 2.38426806e+02] [ 9.37891489e-01 3.37443620e-01 -8.05689628e-02 1.54843591e+02] [ 8.43832947e-02 3.37469326e-03 9.96427655e-01 2.53893160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:154.90, Z:25.38 [[ 3.27956234e-01 -9.44354744e-01 -2.52750094e-02 2.38435808e+02] [ 9.40914330e-01 3.28918107e-01 -8.05797839e-02 1.54902821e+02] [ 8.44093095e-02 2.64502392e-03 9.96427655e-01 2.53789257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:154.96, Z:25.39 [[ 3.20513196e-01 -9.46907645e-01 -2.52428654e-02 2.38448605e+02] [ 9.43474123e-01 3.21499385e-01 -8.05898523e-02 1.54958451e+02] [ 8.44267130e-02 2.01412079e-03 9.96427656e-01 2.53874016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters Centerline goodness : 0.997778 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:155.01, Z:25.39 [[ 3.04527760e-01 -9.52169820e-01 -2.52086793e-02 2.38464017e+02] [ 9.48752503e-01 3.05568715e-01 -8.06005444e-02 1.55014236e+02] [ 8.44483896e-02 6.28305641e-04 9.96427657e-01 2.53872223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:238.49, Y:155.07, Z:25.40 [[ 3.03870761e-01 -9.52380702e-01 -2.51705943e-02 2.38486898e+02] [ 9.48963123e-01 3.04910849e-01 -8.06124363e-02 1.55065028e+02] [ 8.44485159e-02 6.09796590e-04 9.96427657e-01 2.54046892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:238.50, Y:155.12, Z:25.42 [[ 2.95280278e-01 -9.55080112e-01 -2.51303987e-02 2.38502094e+02] [ 9.51670976e-01 2.96347714e-01 -8.06249651e-02 1.55119465e+02] [ 8.44506369e-02 -1.08908963e-04 9.96427658e-01 2.54182597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:155.17, Z:25.42 [[ 2.89450603e-01 -9.56863686e-01 -2.51044660e-02 2.38516756e+02] [ 9.53460426e-01 2.90536623e-01 -8.06330390e-02 1.55173902e+02] [ 8.44485938e-02 -5.96833147e-04 9.96427659e-01 2.54234667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03710568099996 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:155.23, Z:25.42 [[ 2.96927529e-01 -9.54570695e-01 -2.50765021e-02 2.38533192e+02] [ 9.51158310e-01 2.97984530e-01 -8.06417348e-02 1.55228627e+02] [ 8.44506465e-02 9.30277201e-05 9.96427659e-01 2.54168931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09710568099996 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:155.29, Z:25.44 [[ 2.91436604e-01 -9.56262384e-01 -2.50391631e-02 2.38535510e+02] [ 9.52855137e-01 2.92510049e-01 -8.06533269e-02 1.55286160e+02] [ 8.44499495e-02 -3.53363521e-04 9.96427660e-01 2.54352535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15710568099996 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:238.55, Y:155.34, Z:25.45 [[ 3.03332281e-01 -9.52556759e-01 -2.50029529e-02 2.38547845e+02] [ 9.49135477e-01 3.04360111e-01 -8.06645508e-02 1.55341755e+02] [ 8.44474646e-02 7.36972536e-04 9.96427661e-01 2.54519226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21710568099996 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:238.56, Y:155.40, Z:25.46 [[ 3.16742107e-01 -9.48182967e-01 -2.49699681e-02 2.38561801e+02] [ 9.44746725e-01 3.17718758e-01 -8.06747601e-02 1.55398472e+02] [ 8.44278606e-02 1.96279791e-03 9.96427661e-01 2.54569359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27710568099997 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:155.45, Z:25.46 [[ 3.29482521e-01 -9.43832179e-01 -2.49416385e-02 2.38573306e+02] [ 9.40382446e-01 3.30410390e-01 -8.06835176e-02 1.55454197e+02] [ 8.43926768e-02 3.12912984e-03 9.96427662e-01 2.54625357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33710568099997 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:155.51, Z:25.47 [[ 3.40623492e-01 -9.39869741e-01 -2.49099853e-02 2.38585226e+02] [ 9.36408580e-01 3.41507781e-01 -8.06932890e-02 1.55510397e+02] [ 8.43481344e-02 4.16010589e-03 9.96427662e-01 2.54665790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39710568099997 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:238.60, Y:155.57, Z:25.46 [[ 3.50380640e-01 -9.36276943e-01 -2.48775479e-02 2.38602044e+02] [ 9.32806094e-01 3.51226097e-01 -8.07032882e-02 1.55566987e+02] [ 8.42982720e-02 5.07094154e-03 9.96427663e-01 2.54637426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457105681 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:238.62, Y:155.62, Z:25.47 [[ 3.51849964e-01 -9.35726468e-01 -2.48511380e-02 2.38621417e+02] [ 9.32253748e-01 3.52687703e-01 -8.07114199e-02 1.55621358e+02] [ 8.42885026e-02 5.23074371e-03 9.96427663e-01 2.54690675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517105681 meters Centerline goodness : 0.997263 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:155.68, Z:25.47 [[ 3.47159193e-01 -9.37477715e-01 -2.48199111e-02 2.38642245e+02] [ 9.34008575e-01 3.48011635e-01 -8.07210215e-02 1.55675945e+02] [ 8.43117766e-02 4.84103492e-03 9.96427664e-01 2.54709769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577105681 meters Centerline goodness : 0.996448 with order 1 Centerline is valid? [True, True] Translation: X:238.67, Y:155.73, Z:25.48 [[ 3.40195196e-01 -9.40028042e-01 -2.47892827e-02 2.38665322e+02] [ 9.36564658e-01 3.41070726e-01 -8.07304264e-02 1.55728427e+02] [ 8.43437633e-02 4.24733717e-03 9.96427664e-01 2.54782480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637105681 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:155.78, Z:25.48 [[ 3.33750163e-01 -9.42336179e-01 -2.47660026e-02 2.38688544e+02] [ 9.38878354e-01 3.34647399e-01 -8.07375675e-02 1.55781366e+02] [ 8.43698092e-02 3.69391264e-03 9.96427664e-01 2.54847361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697105681 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:155.84, Z:25.49 [[ 3.16089429e-01 -9.48406960e-01 -2.47327986e-02 2.38708136e+02] [ 9.44965711e-01 3.17048273e-01 -8.07477378e-02 1.55835984e+02] [ 8.44232077e-02 2.15185969e-03 9.96427665e-01 2.54904203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757105681 meters Centerline goodness : 0.997410 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:155.89, Z:25.50 [[ 3.04038912e-01 -9.52339454e-01 -2.46962416e-02 2.38728280e+02] [ 9.48909735e-01 3.05038213e-01 -8.07589171e-02 1.55890066e+02] [ 8.44432004e-02 1.11934925e-03 9.96427666e-01 2.55036457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817105681 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:155.94, Z:25.51 [[ 3.00800331e-01 -9.53368121e-01 -2.46655157e-02 2.38745160e+02] [ 9.49941052e-01 3.01808680e-01 -8.07683004e-02 1.55944561e+02] [ 8.44461895e-02 8.64345563e-04 9.96427666e-01 2.55121654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877105681 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:156.00, Z:25.51 [[ 3.02020134e-01 -9.52983340e-01 -2.46291102e-02 2.38758965e+02] [ 9.49554082e-01 3.03021012e-01 -8.07794003e-02 1.56000003e+02] [ 8.44445605e-02 1.01033313e-03 9.96427667e-01 2.55097801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937105681 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:156.06, Z:25.51 [[ 3.04496983e-01 -9.52195651e-01 -2.45973319e-02 2.38769659e+02] [ 9.48763026e-01 3.05486246e-01 -8.07890757e-02 1.56056894e+02] [ 8.44411531e-02 1.26299079e-03 9.96427667e-01 2.55098409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters Centerline goodness : 0.997242 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:156.11, Z:25.53 [[ 2.93631429e-01 -9.55603135e-01 -2.45608061e-02 2.38776424e+02] [ 9.52181074e-01 2.94656638e-01 -8.08001785e-02 1.56113376e+02] [ 8.44499084e-02 3.39137121e-04 9.96427668e-01 2.55281808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters Centerline goodness : 0.997056 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:156.17, Z:25.52 [[ 2.98782519e-01 -9.54005898e-01 -2.45306519e-02 2.38782453e+02] [ 9.50577607e-01 2.99786698e-01 -8.08093322e-02 1.56172537e+02] [ 8.44465426e-02 8.26127409e-04 9.96427669e-01 2.55231777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters Centerline goodness : 0.997426 with order 1 Centerline is valid? [True, True] Translation: X:238.79, Y:156.23, Z:25.53 [[ 3.08367036e-01 -9.50951982e-01 -2.44969284e-02 2.38793884e+02] [ 9.47512954e-01 3.09333802e-01 -8.08195540e-02 1.56228924e+02] [ 8.44332431e-02 1.71092926e-03 9.96427669e-01 2.55337313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:156.29, Z:25.54 [[ 3.20024228e-01 -9.47093443e-01 -2.44643515e-02 2.38798594e+02] [ 9.43642058e-01 3.20945903e-01 -8.08294140e-02 1.56287323e+02] [ 8.44047414e-02 2.78177985e-03 9.96427670e-01 2.55352014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:156.35, Z:25.54 [[ 3.29246163e-01 -9.43927718e-01 -2.44423370e-02 2.38805579e+02] [ 9.40467026e-01 3.30132251e-01 -8.08360705e-02 1.56345309e+02] [ 8.43726113e-02 3.62775407e-03 9.96427670e-01 2.55378634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters Centerline goodness : 0.998073 with order 1 Centerline is valid? [True, True] Translation: X:238.82, Y:156.40, Z:25.54 [[ 3.34661166e-01 -9.42022332e-01 -2.44096198e-02 2.38816576e+02] [ 9.38555911e-01 3.35524567e-01 -8.08459488e-02 1.56402160e+02] [ 8.43487164e-02 4.14620659e-03 9.96427671e-01 2.55407971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:238.83, Y:156.46, Z:25.55 [[ 3.31784899e-01 -9.43040040e-01 -2.43775457e-02 2.38832348e+02] [ 9.39575579e-01 3.32656130e-01 -8.08556191e-02 1.56457898e+02] [ 8.43594262e-02 3.92212680e-03 9.96427671e-01 2.55474666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:156.51, Z:25.55 [[ 3.22976331e-01 -9.46093818e-01 -2.43470042e-02 2.38850686e+02] [ 9.42636953e-01 3.23877225e-01 -8.08648146e-02 1.56512591e+02] [ 8.43911414e-02 3.16703527e-03 9.96427672e-01 2.55461074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:156.57, Z:25.56 [[ 3.10559853e-01 -9.50242738e-01 -2.43170009e-02 2.38867112e+02] [ 9.46797266e-01 3.11503385e-01 -8.08738360e-02 1.56567776e+02] [ 8.44246034e-02 2.09289666e-03 9.96427672e-01 2.55568783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53710568099996 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:156.62, Z:25.56 [[ 3.05580910e-01 -9.51856325e-01 -2.42866949e-02 2.38883378e+02] [ 9.48415123e-01 3.06539892e-01 -8.08829360e-02 1.56622513e+02] [ 8.44337751e-02 1.68241249e-03 9.96427673e-01 2.55564518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59710568099996 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:156.68, Z:25.57 [[ 2.94159841e-01 -9.55448532e-01 -2.42505931e-02 2.38895756e+02] [ 9.52018171e-01 2.95156910e-01 -8.08937588e-02 1.56678215e+02] [ 8.44475532e-02 7.08689918e-04 9.96427674e-01 2.55706751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65710568099996 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:156.73, Z:25.57 [[ 2.88945048e-01 -9.57039304e-01 -2.42183910e-02 2.38912517e+02] [ 9.53613626e-01 2.89958086e-01 -8.09033985e-02 1.56732329e+02] [ 8.44500505e-02 2.81648661e-04 9.96427674e-01 2.55735568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71710568099996 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:238.92, Y:156.79, Z:25.58 [[ 2.84159852e-01 -9.58471778e-01 -2.41873717e-02 2.38920946e+02] [ 9.55050418e-01 2.85187375e-01 -8.09126712e-02 1.56790297e+02] [ 8.44504449e-02 -1.08026817e-04 9.96427675e-01 2.55805692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77710568099997 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:156.85, Z:25.58 [[ 2.89520009e-01 -9.56867121e-01 -2.41552506e-02 2.38930658e+02] [ 9.53439266e-01 2.90525650e-01 -8.09222594e-02 1.56847707e+02] [ 8.44495693e-02 3.98048903e-04 9.96427675e-01 2.55822318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83710568099997 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:156.90, Z:25.59 [[ 2.91672720e-01 -9.56213675e-01 -2.41336280e-02 2.38939538e+02] [ 9.52783034e-01 2.92668814e-01 -8.09287075e-02 1.56904183e+02] [ 8.44482971e-02 6.10584925e-04 9.96427675e-01 2.55872190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89710568099997 meters Centerline goodness : 0.997998 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:156.96, Z:25.60 [[ 2.96713457e-01 -9.54662207e-01 -2.41079640e-02 2.38954149e+02] [ 9.51225741e-01 2.97689263e-01 -8.09363519e-02 1.56959304e+02] [ 8.44435584e-02 1.08278890e-03 9.96427676e-01 2.56035037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957105681 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:238.97, Y:157.01, Z:25.61 [[ 3.04696670e-01 -9.52145110e-01 -2.40754882e-02 2.38966488e+02] [ 9.48699836e-01 3.05640908e-01 -8.09460111e-02 1.57014812e+02] [ 8.44308027e-02 1.82356833e-03 9.96427676e-01 2.56123634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017105681 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:238.98, Y:157.07, Z:25.61 [[ 3.15932780e-01 -9.48476827e-01 -2.40455330e-02 2.38984090e+02] [ 9.45019964e-01 3.16833664e-01 -8.09549085e-02 1.57068647e+02] [ 8.44022891e-02 2.85280064e-03 9.96427677e-01 2.56134618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077105681 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:157.12, Z:25.62 [[ 3.25196687e-01 -9.45341286e-01 -2.40201391e-02 2.39004339e+02] [ 9.41875234e-01 3.26061539e-01 -8.09624425e-02 1.57122705e+02] [ 8.43691831e-02 3.70474392e-03 9.96427677e-01 2.56179166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137105681 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:239.03, Y:157.17, Z:25.62 [[ 3.32781443e-01 -9.42698861e-01 -2.39868428e-02 2.39030507e+02] [ 9.39225286e-01 3.33615568e-01 -8.09723061e-02 1.57174454e+02] [ 8.43348849e-02 4.41703149e-03 9.96427678e-01 2.56229083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197105681 meters Centerline goodness : 0.996858 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:157.23, Z:25.62 [[ 3.31968357e-01 -9.42986360e-01 -2.39527515e-02 2.39055688e+02] [ 9.39512804e-01 3.32802558e-01 -8.09823896e-02 1.57227364e+02] [ 8.43368258e-02 4.37967413e-03 9.96427678e-01 2.56238767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257105681 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:157.28, Z:25.62 [[ 3.29885344e-01 -9.43717907e-01 -2.39201089e-02 2.39084195e+02] [ 9.40245526e-01 3.30724420e-01 -8.09920302e-02 1.57279121e+02] [ 8.43445934e-02 4.22730836e-03 9.96427679e-01 2.56192818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317105681 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:157.33, Z:25.62 [[ 3.16903477e-01 -9.48156700e-01 -2.38968386e-02 2.39117249e+02] [ 9.44695653e-01 3.17788140e-01 -8.09988957e-02 1.57329883e+02] [ 8.43937775e-02 3.09359212e-03 9.96427679e-01 2.56215963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377105681 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:157.38, Z:25.63 [[ 3.04181382e-01 -9.52315085e-01 -2.38676772e-02 2.39152200e+02] [ 9.48865524e-01 3.05109823e-01 -8.10074877e-02 1.57378756e+02] [ 8.44269153e-02 1.99375351e-03 9.96427680e-01 2.56324367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437105681 meters Centerline goodness : 0.997942 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:157.43, Z:25.65 [[ 2.91721562e-01 -9.56206179e-01 -2.38384766e-02 2.39175985e+02] [ 9.52768336e-01 2.92692489e-01 -8.10160798e-02 1.57431848e+02] [ 8.44454192e-02 9.21591652e-04 9.96427680e-01 2.56464640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:239.20, Y:157.48, Z:25.65 [[ 2.87114240e-01 -9.57600472e-01 -2.38064978e-02 2.39198685e+02] [ 9.54166566e-01 2.88099003e-01 -8.10254757e-02 1.57484380e+02] [ 8.44486621e-02 5.48203682e-04 9.96427681e-01 2.56469230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:157.54, Z:25.65 [[ 2.89905191e-01 -9.56760240e-01 -2.37660017e-02 2.39215789e+02] [ 9.53322508e-01 2.90876508e-01 -8.10373522e-02 1.57539205e+02] [ 8.44462881e-02 8.36484717e-04 9.96427682e-01 2.56514563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:157.59, Z:25.65 [[ 3.13152301e-01 -9.49406332e-01 -2.37329424e-02 2.39238801e+02] [ 9.45945214e-01 3.14036672e-01 -8.10470329e-02 1.57593998e+02] [ 8.43995805e-02 2.93000153e-03 9.96427682e-01 2.56454169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:157.65, Z:25.66 [[ 3.14064834e-01 -9.49105674e-01 -2.37002116e-02 2.39244740e+02] [ 9.45642998e-01 3.14943086e-01 -8.10566032e-02 1.57651608e+02] [ 8.43954998e-02 3.04508947e-03 9.96427683e-01 2.56593111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:157.71, Z:25.66 [[ 3.22915300e-01 -9.46131816e-01 -2.36705780e-02 2.39261505e+02] [ 9.42660473e-01 3.23758641e-01 -8.10652561e-02 1.57706543e+02] [ 8.43619721e-02 3.86389327e-03 9.96427683e-01 2.56618114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:239.28, Y:157.76, Z:25.66 [[ 3.19956167e-01 -9.47137469e-01 -2.36361096e-02 2.39275990e+02] [ 9.43668056e-01 3.20807410e-01 -8.10753048e-02 1.57761784e+02] [ 8.43720981e-02 3.63590218e-03 9.96427684e-01 2.56634994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:157.82, Z:25.67 [[ 3.20062159e-01 -9.47102433e-01 -2.36049817e-02 2.39295053e+02] [ 9.43632275e-01 3.20910355e-01 -8.10843667e-02 1.57815275e+02] [ 8.43702840e-02 3.67761483e-03 9.96427684e-01 2.56682197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:157.87, Z:25.68 [[ 3.19094286e-01 -9.47429852e-01 -2.35693117e-02 2.39312685e+02] [ 9.43959816e-01 3.19942980e-01 -8.10947338e-02 1.57869077e+02] [ 8.43724075e-02 3.62838301e-03 9.96427685e-01 2.56800174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:157.92, Z:25.68 [[ 3.20472273e-01 -9.46965575e-01 -2.35312972e-02 2.39330291e+02] [ 9.43493521e-01 3.21312670e-01 -8.11057631e-02 1.57924055e+02] [ 8.43652695e-02 3.79052184e-03 9.96427686e-01 2.56808429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03710568099996 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:157.98, Z:25.68 [[ 3.23105148e-01 -9.46071394e-01 -2.34942902e-02 2.39351385e+02] [ 9.42596261e-01 3.23932718e-01 -8.11164817e-02 1.57977614e+02] [ 8.43525522e-02 4.06352268e-03 9.96427687e-01 2.56841999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09710568099996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:239.37, Y:158.03, Z:25.69 [[ 3.24840237e-01 -9.45477836e-01 -2.34623767e-02 2.39369995e+02] [ 9.42000547e-01 3.25658700e-01 -8.11257115e-02 1.58031558e+02] [ 8.43432892e-02 4.25132366e-03 9.96427687e-01 2.56853549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15710568099996 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:158.08, Z:25.69 [[ 3.27185051e-01 -9.44669746e-01 -2.34310541e-02 2.39394890e+02] [ 9.41189814e-01 3.27992202e-01 -8.11347572e-02 1.58083966e+02] [ 8.43307535e-02 4.49301019e-03 9.96427688e-01 2.56874224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21710568099996 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:158.14, Z:25.70 [[ 3.28123310e-01 -9.44345050e-01 -2.33991551e-02 2.39414675e+02] [ 9.40863689e-01 3.28924272e-01 -8.11439559e-02 1.58137476e+02] [ 8.43244431e-02 4.60980794e-03 9.96427688e-01 2.56957269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27710568099997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:239.44, Y:158.19, Z:25.70 [[ 3.28153300e-01 -9.44335438e-01 -2.33664812e-02 2.39437782e+02] [ 9.40853410e-01 3.28951353e-01 -8.11533637e-02 1.58191030e+02] [ 8.43224329e-02 4.64631057e-03 9.96427689e-01 2.57041442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33710568099997 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:158.24, Z:25.71 [[ 3.26843562e-01 -9.44790273e-01 -2.33372369e-02 2.39457320e+02] [ 9.41308779e-01 3.27643938e-01 -8.11617727e-02 1.58244339e+02] [ 8.43271575e-02 4.55965690e-03 9.96427689e-01 2.57081903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39710568099997 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:158.30, Z:25.72 [[ 3.26177817e-01 -9.45021119e-01 -2.33048640e-02 2.39478095e+02] [ 9.41539552e-01 3.26977874e-01 -8.11710672e-02 1.58298460e+02] [ 8.43285476e-02 4.53375032e-03 9.96427690e-01 2.57155955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457105681 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:239.50, Y:158.35, Z:25.72 [[ 3.24392845e-01 -9.45636058e-01 -2.32750419e-02 2.39495228e+02] [ 9.42155418e-01 3.25196922e-01 -8.11796176e-02 1.58351636e+02] [ 8.43353456e-02 4.40538028e-03 9.96427690e-01 2.57178621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517105681 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:239.52, Y:158.40, Z:25.72 [[ 3.22148148e-01 -9.46403966e-01 -2.32401436e-02 2.39517390e+02] [ 9.42924548e-01 3.22957496e-01 -8.11896071e-02 1.58404613e+02] [ 8.43437447e-02 4.24137964e-03 9.96427691e-01 2.57187377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577105681 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:239.54, Y:158.46, Z:25.72 [[ 3.15228299e-01 -9.48731987e-01 -2.32106737e-02 2.39539650e+02] [ 9.45257970e-01 3.16060518e-01 -8.11980312e-02 1.58458774e+02] [ 8.43711471e-02 3.65584303e-03 9.96427692e-01 2.57248389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637105681 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:239.56, Y:158.51, Z:25.73 [[ 3.01196786e-01 -9.53280227e-01 -2.31798521e-02 2.39557426e+02] [ 9.49818197e-01 3.02077545e-01 -8.12068290e-02 1.58514269e+02] [ 8.44149772e-02 2.44259052e-03 9.96427692e-01 2.57280475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:158.57, Z:25.74 [[ 2.82654361e-01 -9.58942455e-01 -2.31490930e-02 2.39577823e+02] [ 9.55497441e-01 2.83599485e-01 -8.12155964e-02 1.58567170e+02] [ 8.44461542e-02 8.37043402e-04 9.96427693e-01 2.57404659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757105681 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:158.62, Z:25.75 [[ 2.68594918e-01 -9.62975741e-01 -2.31190685e-02 2.39589305e+02] [ 9.59544190e-01 2.69587809e-01 -8.12241424e-02 1.58622636e+02] [ 8.44494978e-02 -3.67375949e-04 9.96427693e-01 2.57527922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817105681 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:158.68, Z:25.75 [[ 2.64466344e-01 -9.64118567e-01 -2.30855334e-02 2.39596456e+02] [ 9.60690472e-01 2.65471103e-01 -8.12336727e-02 1.58680912e+02] [ 8.44474341e-02 -6.94479608e-04 9.96427694e-01 2.57498741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877105681 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:158.74, Z:25.76 [[ 2.63772642e-01 -9.64309427e-01 -2.30504451e-02 2.39601549e+02] [ 9.60881189e-01 2.64776912e-01 -8.12436280e-02 1.58738444e+02] [ 8.44472220e-02 -7.18892633e-04 9.96427694e-01 2.57562345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937105681 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:239.61, Y:158.80, Z:25.76 [[ 2.67955336e-01 -9.63156314e-01 -2.30185138e-02 2.39609466e+02] [ 9.59722976e-01 2.68942024e-01 -8.12526741e-02 1.58796734e+02] [ 8.44496718e-02 -3.19308993e-04 9.96427695e-01 2.57589730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:158.85, Z:25.77 [[ 2.80126399e-01 -9.59687805e-01 -2.29895228e-02 2.39615330e+02] [ 9.56241581e-01 2.81067090e-01 -8.12608759e-02 1.58852448e+02] [ 8.44466699e-02 7.79778871e-04 9.96427695e-01 2.57678210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:158.91, Z:25.77 [[ 2.90683343e-01 -9.56543799e-01 -2.29598416e-02 2.39622395e+02] [ 9.53086763e-01 2.91583486e-01 -8.12692614e-02 1.58909521e+02] [ 8.44323187e-02 1.74089946e-03 9.96427696e-01 2.57683178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:158.97, Z:25.77 [[ 2.93932298e-01 -9.55551024e-01 -2.29356686e-02 2.39634774e+02] [ 9.52090422e-01 2.94818633e-01 -8.12760829e-02 1.58966120e+02] [ 8.44253067e-02 2.05283538e-03 9.96427696e-01 2.57701355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:159.02, Z:25.78 [[ 2.91607568e-01 -9.56263807e-01 -2.29032416e-02 2.39644198e+02] [ 9.52804660e-01 2.92499562e-01 -8.12852197e-02 1.59022429e+02] [ 8.44293018e-02 1.88106991e-03 9.96427697e-01 2.57763581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:239.65, Y:159.08, Z:25.78 [[ 2.94372552e-01 -9.55417039e-01 -2.28709990e-02 2.39650969e+02] [ 9.51954629e-01 2.95251795e-01 -8.12942908e-02 1.59078244e+02] [ 8.44226541e-02 2.15865446e-03 9.96427697e-01 2.57833954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:239.66, Y:159.14, Z:25.78 [[ 3.05794785e-01 -9.51823531e-01 -2.28367013e-02 2.39661682e+02] [ 9.48350136e-01 3.06629569e-01 -8.13039244e-02 1.59135436e+02] [ 8.43893963e-02 3.20512723e-03 9.96427698e-01 2.57825935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:159.19, Z:25.78 [[ 3.17053788e-01 -9.48133321e-01 -2.28057128e-02 2.39676430e+02] [ 9.44649674e-01 3.17844698e-01 -8.13126158e-02 1.59192614e+02] [ 8.43438753e-02 4.23706371e-03 9.96427698e-01 2.57781973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:159.25, Z:25.79 [[ 3.16263425e-01 -9.48397949e-01 -2.27766602e-02 2.39697164e+02] [ 9.44914397e-01 3.17054754e-01 -8.13207530e-02 1.59245728e+02] [ 8.43458837e-02 4.19678573e-03 9.96427699e-01 2.57857801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:239.72, Y:159.30, Z:25.79 [[ 3.17772152e-01 -9.47894005e-01 -2.27555450e-02 2.39719916e+02] [ 9.44408792e-01 3.18556130e-01 -8.13266611e-02 1.59300073e+02] [ 8.43379729e-02 4.35281131e-03 9.96427699e-01 2.57891023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53710568099996 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:159.35, Z:25.80 [[ 3.10494886e-01 -9.50303335e-01 -2.27265805e-02 2.39740991e+02] [ 9.46823660e-01 3.11303091e-01 -8.13347544e-02 1.59352565e+02] [ 8.43675431e-02 3.73596114e-03 9.96427699e-01 2.57996425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59710568099996 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:239.76, Y:159.40, Z:25.81 [[ 3.09987210e-01 -9.50469446e-01 -2.27103747e-02 2.39764480e+02] [ 9.46989882e-01 3.10795889e-01 -8.13392792e-02 1.59404707e+02] [ 8.43687908e-02 3.70764113e-03 9.96427700e-01 2.58139026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65710568099996 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:239.78, Y:159.46, Z:25.82 [[ 3.04055813e-01 -9.52384277e-01 -2.26771170e-02 2.39782278e+02] [ 9.48909146e-01 3.04883332e-01 -8.13485503e-02 1.59458441e+02] [ 8.43889553e-02 3.21597587e-03 9.96427700e-01 2.58156892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71710568099996 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:159.52, Z:25.81 [[ 2.94331631e-01 -9.55435137e-01 -2.26404406e-02 2.39798822e+02] [ 9.51967848e-01 2.95191412e-01 -8.13587567e-02 1.59515493e+02] [ 8.44162785e-02 2.39348409e-03 9.96427701e-01 2.58061405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77710568099997 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:159.57, Z:25.82 [[ 2.76193683e-01 -9.60836065e-01 -2.26076439e-02 2.39808367e+02] [ 9.57384929e-01 2.77116164e-01 -8.13678691e-02 1.59570700e+02] [ 8.44461267e-02 8.29073875e-04 9.96427702e-01 2.58163485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83710568099997 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:159.63, Z:25.82 [[ 2.67145436e-01 -9.63391820e-01 -2.25724875e-02 2.39822967e+02] [ 9.59948690e-01 2.68097363e-01 -8.13776208e-02 1.59626808e+02] [ 8.44501586e-02 7.12302199e-05 9.96427702e-01 2.58214046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89710568099997 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:159.68, Z:25.82 [[ 2.66528852e-01 -9.63563279e-01 -2.25428062e-02 2.39832103e+02] [ 9.60120065e-01 2.67480475e-01 -8.13858422e-02 1.59683569e+02] [ 8.44501695e-02 4.78745411e-05 9.96427703e-01 2.58245205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957105681 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:159.74, Z:25.83 [[ 2.74259616e-01 -9.61392187e-01 -2.25105826e-02 2.39841054e+02] [ 9.57940712e-01 2.75180825e-01 -8.13947540e-02 1.59740286e+02] [ 8.44467613e-02 7.59490470e-04 9.96427703e-01 2.58333338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017105681 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:239.84, Y:159.80, Z:25.84 [[ 2.74109615e-01 -9.61435777e-01 -2.24759056e-02 2.39844813e+02] [ 9.57983664e-01 2.75028427e-01 -8.14043285e-02 1.59797547e+02] [ 8.44465467e-02 7.82158779e-04 9.96427704e-01 2.58379512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:239.85, Y:159.86, Z:25.83 [[ 2.70353803e-01 -9.62499460e-01 -2.24412746e-02 2.39848933e+02] [ 9.59050171e-01 2.71283157e-01 -8.14138744e-02 1.59857125e+02] [ 8.44487499e-02 4.88242292e-04 9.96427704e-01 2.58306012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:239.85, Y:159.91, Z:25.84 [[ 2.83277974e-01 -9.58776140e-01 -2.24032053e-02 2.39854968e+02] [ 9.55313838e-01 2.84157608e-01 -8.14243489e-02 1.59913709e+02] [ 8.44337641e-02 1.66363251e-03 9.96427705e-01 2.58393315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:159.97, Z:25.85 [[ 2.91866729e-01 -9.56197376e-01 -2.23694341e-02 2.39861923e+02] [ 9.52726622e-01 2.92712398e-01 -8.14336257e-02 1.59972374e+02] [ 8.44144299e-02 2.45581056e-03 9.96427706e-01 2.58470847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:160.03, Z:25.85 [[ 2.97676778e-01 -9.54405036e-01 -2.23509181e-02 2.39874634e+02] [ 9.50928830e-01 2.98499745e-01 -8.14387075e-02 1.60029819e+02] [ 8.43972559e-02 2.98827960e-03 9.96427706e-01 2.58495092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317105681 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:160.09, Z:25.86 [[ 2.99711267e-01 -9.53768809e-01 -2.23207425e-02 2.39887313e+02] [ 9.50290254e-01 3.00524247e-01 -8.14469772e-02 1.60085113e+02] [ 8.43895108e-02 3.19939272e-03 9.96427707e-01 2.58565249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:239.90, Y:160.14, Z:25.86 [[ 2.97363557e-01 -9.54503835e-01 -2.23011949e-02 2.39901482e+02] [ 9.51026898e-01 2.98183428e-01 -8.14523292e-02 1.60139606e+02] [ 8.43964074e-02 3.01191815e-03 9.96427707e-01 2.58619961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:160.19, Z:25.87 [[ 2.89200633e-01 -9.57009146e-01 -2.22820051e-02 2.39918848e+02] [ 9.53538939e-01 2.90048537e-01 -8.14575785e-02 1.60192826e+02] [ 8.44185106e-02 2.31082375e-03 9.96427707e-01 2.58657469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:160.25, Z:25.87 [[ 2.73181575e-01 -9.61705198e-01 -2.22472066e-02 2.39931460e+02] [ 9.58248862e-01 2.74084355e-01 -8.14670814e-02 1.60248383e+02] [ 8.44449269e-02 9.36945176e-04 9.96427708e-01 2.58719960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:160.30, Z:25.88 [[ 2.57807012e-01 -9.65941092e-01 -2.22115088e-02 2.39943268e+02] [ 9.62498759e-01 2.58761796e-01 -8.14768131e-02 1.60304128e+02] [ 8.44492917e-02 -3.73255940e-04 9.96427708e-01 2.58752626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:160.36, Z:25.89 [[ 2.40081229e-01 -9.70499385e-01 -2.21799062e-02 2.39950494e+02] [ 9.67074321e-01 2.41096217e-01 -8.14854152e-02 1.60361394e+02] [ 8.44290367e-02 -1.88649914e-03 9.96427709e-01 2.58875014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.42, Z:25.90 [[ 2.25464085e-01 -9.73999727e-01 -2.21467320e-02 2.39959648e+02] [ 9.70589444e-01 2.26527677e-01 -8.14944306e-02 1.60416545e+02] [ 8.43924009e-02 -3.12131711e-03 9.96427709e-01 2.58996950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.47, Z:25.90 [[ 2.14568135e-01 -9.76458792e-01 -2.21075302e-02 2.39960750e+02] [ 9.73059549e-01 2.15666498e-01 -8.15050638e-02 1.60474895e+02] [ 8.43541897e-02 -4.02355388e-03 9.96427710e-01 2.58974767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.53, Z:25.91 [[ 2.14426562e-01 -9.76490858e-01 -2.20647567e-02 2.39959695e+02] [ 9.73090626e-01 2.15521856e-01 -8.15166417e-02 1.60533683e+02] [ 8.43556927e-02 -3.99167466e-03 9.96427711e-01 2.59061200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.59, Z:25.91 [[ 2.18429400e-01 -9.75604134e-01 -2.20266055e-02 2.39959118e+02] [ 9.72198431e-01 2.19507559e-01 -8.15269493e-02 1.60594379e+02] [ 8.43730352e-02 -3.60634870e-03 9.96427712e-01 2.59103566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.66, Z:25.89 [[ 2.41484034e-01 -9.70155578e-01 -2.19912829e-02 2.39963652e+02] [ 9.66724424e-01 2.42478228e-01 -8.15364763e-02 1.60655300e+02] [ 8.44354745e-02 -1.56975314e-03 9.96427713e-01 2.58921305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:160.72, Z:25.90 [[ 2.47772053e-01 -9.68569506e-01 -2.19572610e-02 2.39955975e+02] [ 9.65131168e-01 2.48741105e-01 -8.15456372e-02 1.60715806e+02] [ 8.44442909e-02 -9.86906982e-04 9.96427713e-01 2.58979252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03710568099996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:160.78, Z:25.92 [[ 2.52648668e-01 -9.67309707e-01 -2.19221476e-02 2.39937974e+02] [ 9.63865714e-01 2.53597426e-01 -8.15550758e-02 1.60779113e+02] [ 8.44484167e-02 -5.25225226e-04 9.96427714e-01 2.59188425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:160.84, Z:25.92 [[ 2.67397061e-01 -9.63337763e-01 -2.18898599e-02 2.39931104e+02] [ 9.59878971e-01 2.68290359e-01 -8.15637411e-02 1.60841287e+02] [ 8.44462703e-02 7.98288458e-04 9.96427714e-01 2.59227983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15710568099996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:160.90, Z:25.93 [[ 2.78716201e-01 -9.60124736e-01 -2.18579809e-02 2.39932706e+02] [ 9.56655006e-01 2.79566023e-01 -8.15722834e-02 1.60900911e+02] [ 8.44303158e-02 1.82497009e-03 9.96427715e-01 2.59269470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:239.94, Y:160.96, Z:25.93 [[ 2.80288673e-01 -9.59667582e-01 -2.18263958e-02 2.39937933e+02] [ 9.56195814e-01 2.81130127e-01 -8.15807338e-02 1.60959845e+02] [ 8.44264430e-02 1.99584734e-03 9.96427716e-01 2.59263826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:161.02, Z:25.93 [[ 2.75041346e-01 -9.61185318e-01 -2.17954789e-02 2.39951206e+02] [ 9.57717550e-01 2.75899132e-01 -8.15889929e-02 1.61015280e+02] [ 8.44354958e-02 1.56643373e-03 9.96427716e-01 2.59298897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33710568099997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:239.97, Y:161.07, Z:25.94 [[ 2.68285989e-01 -9.63093389e-01 -2.17658580e-02 2.39967705e+02] [ 9.59631091e-01 2.69165593e-01 -8.15968943e-02 1.61070286e+02] [ 8.44440495e-02 1.00410947e-03 9.96427717e-01 2.59377818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39710568099997 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:161.13, Z:25.94 [[ 2.66488780e-01 -9.63592897e-01 -2.17361037e-02 2.39981537e+02] [ 9.60131603e-01 2.67372322e-01 -8.16048197e-02 1.61125597e+02] [ 8.44454571e-02 8.77248772e-04 9.96427717e-01 2.59400962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457105681 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:161.18, Z:25.93 [[ 2.51674262e-01 -9.67568605e-01 -2.17039309e-02 2.39991542e+02] [ 9.64120537e-01 2.52608088e-01 -8.16133756e-02 1.61184006e+02] [ 8.44491285e-02 -3.85219439e-04 9.96427718e-01 2.59302800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:161.24, Z:25.95 [[ 2.60518988e-01 -9.65225489e-01 -2.16705223e-02 2.40017270e+02] [ 9.61768284e-01 2.61418393e-01 -8.16222456e-02 1.61236076e+02] [ 8.44489450e-02 4.22123707e-04 9.96427718e-01 2.59486035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:240.03, Y:161.29, Z:25.95 [[ 2.59746086e-01 -9.65434462e-01 -2.16395565e-02 2.40034964e+02] [ 9.61977296e-01 2.60645641e-01 -8.16304544e-02 1.61290976e+02] [ 8.44491099e-02 3.86428923e-04 9.96427719e-01 2.59507018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:161.35, Z:25.95 [[ 2.53597878e-01 -9.67068330e-01 -2.16092831e-02 2.40048702e+02] [ 9.63616277e-01 2.54516857e-01 -8.16384677e-02 1.61346185e+02] [ 8.44499034e-02 -1.19714754e-04 9.96427719e-01 2.59486503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697105681 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:240.08, Y:161.40, Z:25.95 [[ 2.51761755e-01 -9.67548728e-01 -2.15749330e-02 2.40076479e+02] [ 9.64097650e-01 2.52684387e-01 -8.16475445e-02 1.61398624e+02] [ 8.44496266e-02 -2.44613101e-04 9.96427720e-01 2.59495122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:240.09, Y:161.45, Z:25.96 [[ 2.29182029e-01 -9.73145126e-01 -2.15444087e-02 2.40094838e+02] [ 9.69715702e-01 2.30182147e-01 -8.16555983e-02 1.61453257e+02] [ 8.44218857e-02 -2.17795570e-03 9.96427720e-01 2.59585459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:161.51, Z:25.96 [[ 1.94460929e-01 -9.80674304e-01 -2.15140809e-02 2.40099919e+02] [ 9.77281751e-01 1.95579749e-01 -8.16635881e-02 1.61512106e+02] [ 8.42931010e-02 -5.14494149e-03 9.96427721e-01 2.59625757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877105681 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:240.12, Y:161.57, Z:25.96 [[ 2.15709843e-01 -9.76221156e-01 -2.14829635e-02 2.40122272e+02] [ 9.72804315e-01 2.16752132e-01 -8.16717733e-02 1.61565420e+02] [ 8.43861911e-02 -3.28131424e-03 9.96427721e-01 2.59614585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.12, Y:161.62, Z:25.99 [[ 2.07280897e-01 -9.78045986e-01 -2.14634129e-02 2.40123318e+02] [ 9.74637751e-01 2.08350993e-01 -8.16769109e-02 1.61622791e+02] [ 8.43556983e-02 -3.98898917e-03 9.96427721e-01 2.59853949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:161.68, Z:25.99 [[ 2.08581636e-01 -9.77770137e-01 -2.14303438e-02 2.40128791e+02] [ 9.74359622e-01 2.09644442e-01 -8.16855866e-02 1.61679675e+02] [ 8.43624797e-02 -3.84274839e-03 9.96427722e-01 2.59930978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:161.74, Z:25.99 [[ 2.08128709e-01 -9.77867387e-01 -2.13965900e-02 2.40128874e+02] [ 9.74456488e-01 2.09190281e-01 -8.16944272e-02 1.61739221e+02] [ 8.43622747e-02 -3.84709026e-03 9.96427723e-01 2.59918604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:161.80, Z:26.00 [[ 2.06054540e-01 -9.78307029e-01 -2.13748450e-02 2.40132583e+02] [ 9.74897822e-01 2.07121530e-01 -8.17001162e-02 1.61795939e+02] [ 8.43549886e-02 -4.00361000e-03 9.96427723e-01 2.59972200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:161.86, Z:25.98 [[ 2.16987139e-01 -9.75941164e-01 -2.13407109e-02 2.40141388e+02] [ 9.72519376e-01 2.18013067e-01 -8.17090314e-02 1.61855049e+02] [ 8.43957611e-02 -3.02444583e-03 9.96427724e-01 2.59842469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:161.91, Z:26.01 [[ 2.07191816e-01 -9.78068180e-01 -2.13116649e-02 2.40133395e+02] [ 9.74656099e-01 2.08249576e-01 -8.17166066e-02 1.61913586e+02] [ 8.43625579e-02 -3.84053210e-03 9.96427724e-01 2.60080088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:161.97, Z:26.01 [[ 2.11036675e-01 -9.77246340e-01 -2.12864445e-02 2.40137024e+02] [ 9.73829483e-01 2.12078903e-01 -8.17231758e-02 1.61971133e+02] [ 8.43780803e-02 -3.48278001e-03 9.96427724e-01 2.60139818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:162.03, Z:26.01 [[ 2.15613842e-01 -9.76247386e-01 -2.12535148e-02 2.40138609e+02] [ 9.72824859e-01 2.16637294e-01 -8.17317389e-02 1.62028829e+02] [ 8.43947004e-02 -3.05345326e-03 9.96427725e-01 2.60139027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:162.09, Z:26.02 [[ 2.23473891e-01 -9.74478922e-01 -2.12191256e-02 2.40138210e+02] [ 9.71047423e-01 2.24466847e-01 -8.17406661e-02 1.62086037e+02] [ 8.44175464e-02 -2.33787249e-03 9.96427726e-01 2.60205700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:162.14, Z:26.03 [[ 2.37755311e-01 -9.71093988e-01 -2.11867519e-02 2.40138987e+02] [ 9.67647539e-01 2.38695060e-01 -8.17490564e-02 1.62144841e+02] [ 8.44431902e-02 -1.06503601e-03 9.96427726e-01 2.60307931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:162.20, Z:26.04 [[ 2.41529897e-01 -9.70162725e-01 -2.11564431e-02 2.40142497e+02] [ 9.66711964e-01 2.42453684e-01 -8.17568995e-02 1.62202935e+02] [ 8.44469540e-02 -7.05451113e-04 9.96427727e-01 2.60422202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:162.26, Z:26.04 [[ 2.37994681e-01 -9.71036653e-01 -2.11269943e-02 2.40147604e+02] [ 9.67588607e-01 2.38928551e-01 -8.17645088e-02 1.62261547e+02] [ 8.44441771e-02 -9.82720736e-04 9.96427727e-01 2.60445945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:162.32, Z:26.04 [[ 2.44460443e-01 -9.69429701e-01 -2.10984903e-02 2.40157033e+02] [ 9.65974876e-01 2.45368910e-01 -8.17718633e-02 1.62319169e+02] [ 8.44489866e-02 -3.90625651e-04 9.96427727e-01 2.60430580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71710568099996 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:162.38, Z:26.05 [[ 2.56010676e-01 -9.66444342e-01 -2.10681825e-02 2.40167743e+02] [ 9.62978282e-01 2.56875289e-01 -8.17796713e-02 1.62375516e+02] [ 8.44473960e-02 6.48266728e-04 9.96427728e-01 2.60501783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.19, Y:162.43, Z:26.06 [[ 2.69664563e-01 -9.62724481e-01 -2.10379977e-02 2.40186950e+02] [ 9.59245931e-01 2.70477466e-01 -8.17874357e-02 1.62430203e+02] [ 8.44290709e-02 1.87455942e-03 9.96427728e-01 2.60579467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:162.48, Z:26.06 [[ 2.72679998e-01 -9.61875476e-01 -2.10044854e-02 2.40205820e+02] [ 9.58393741e-01 2.73479149e-01 -8.17960414e-02 1.62484010e+02] [ 8.44218950e-02 2.17357704e-03 9.96427729e-01 2.60634785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:162.54, Z:26.07 [[ 2.77093486e-01 -9.60614058e-01 -2.09721888e-02 2.40227817e+02] [ 9.57128075e-01 2.77873895e-01 -8.18043213e-02 1.62538197e+02] [ 8.44100048e-02 2.59437389e-03 9.96427730e-01 2.60663958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.26, Y:162.59, Z:26.07 [[ 2.81204415e-01 -9.59419421e-01 -2.09392385e-02 2.40258252e+02] [ 9.55929514e-01 2.81967085e-01 -8.18127547e-02 1.62589158e+02] [ 8.43969218e-02 2.98967173e-03 9.96427730e-01 2.60673969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:162.64, Z:26.08 [[ 2.71819185e-01 -9.62121256e-01 -2.09049885e-02 2.40282170e+02] [ 9.58638302e-01 2.72612998e-01 -8.18215055e-02 1.62642834e+02] [ 8.44211812e-02 2.20033229e-03 9.96427731e-01 2.60753154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:240.31, Y:162.69, Z:26.08 [[ 2.61667620e-01 -9.64932311e-01 -2.08732270e-02 2.40311849e+02] [ 9.61457272e-01 2.62495390e-01 -8.18296073e-02 1.62694213e+02] [ 8.44391580e-02 1.34344272e-03 9.96427731e-01 2.60833680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:162.75, Z:26.09 [[ 2.53064031e-01 -9.67224979e-01 -2.08431140e-02 2.40337043e+02] [ 9.63756820e-01 2.53920168e-01 -8.18372768e-02 1.62746755e+02] [ 8.44475454e-02 6.22377916e-04 9.96427732e-01 2.60905931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:240.37, Y:162.80, Z:26.09 [[ 2.44080260e-01 -9.69531716e-01 -2.08105139e-02 2.40365980e+02] [ 9.66070944e-01 2.44965783e-01 -8.18455659e-02 1.62800354e+02] [ 8.44497359e-02 -1.27545817e-04 9.96427732e-01 2.60867467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257105681 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:240.37, Y:162.86, Z:26.07 [[ 2.29108192e-01 -9.73179234e-01 -2.07753470e-02 2.40373222e+02] [ 9.69731718e-01 2.30043992e-01 -8.18544917e-02 1.62859663e+02] [ 8.44383352e-02 -1.39297835e-03 9.96427733e-01 2.60670546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:162.91, Z:26.09 [[ 2.55296237e-01 -9.66640347e-01 -2.07430009e-02 2.40406602e+02] [ 9.63168161e-01 2.56135889e-01 -8.18626878e-02 1.62908403e+02] [ 8.44448039e-02 9.20238091e-04 9.96427734e-01 2.60876241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:240.43, Y:162.96, Z:26.10 [[ 2.66624628e-01 -9.63577921e-01 -2.07098369e-02 2.40425769e+02] [ 9.60095476e-01 2.67420651e-01 -8.18710769e-02 1.62962532e+02] [ 8.44274002e-02 1.94542468e-03 9.96427734e-01 2.61005452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:163.02, Z:26.11 [[ 2.73037214e-01 -9.61781190e-01 -2.06790333e-02 2.40441220e+02] [ 9.58292940e-01 2.73807403e-01 -8.18788566e-02 1.63018178e+02] [ 8.44116165e-02 2.53940332e-03 9.96427735e-01 2.61134060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:163.07, Z:26.11 [[ 2.81056329e-01 -9.59469109e-01 -2.06486978e-02 2.40462663e+02] [ 9.55974005e-01 2.81794788e-01 -8.18865061e-02 1.63073626e+02] [ 8.43862685e-02 3.27510251e-03 9.96427735e-01 2.61107551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:163.13, Z:26.11 [[ 2.80794719e-01 -9.59546387e-01 -2.06169078e-02 2.40483519e+02] [ 9.56050913e-01 2.81531422e-01 -8.18945093e-02 1.63127467e+02] [ 8.43858879e-02 3.28473220e-03 9.96427736e-01 2.61129469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.51, Y:163.18, Z:26.12 [[ 2.69714639e-01 -9.62720197e-01 -2.05872680e-02 2.40506743e+02] [ 9.59232888e-01 2.70489068e-01 -8.19019597e-02 1.63180573e+02] [ 8.44173018e-02 2.34217298e-03 9.96427736e-01 2.61199591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:163.23, Z:26.13 [[ 2.58564185e-01 -9.65775387e-01 -2.05539535e-02 2.40529461e+02] [ 9.62296606e-01 2.59376064e-01 -8.19103195e-02 1.63233834e+02] [ 8.44381740e-02 1.40007525e-03 9.96427737e-01 2.61255553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:240.55, Y:163.29, Z:26.12 [[ 2.48458775e-01 -9.68424886e-01 -2.05298935e-02 2.40552932e+02] [ 9.64954282e-01 2.49304924e-01 -8.19163494e-02 1.63288375e+02] [ 8.44480349e-02 5.42427173e-04 9.96427737e-01 2.61232472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:163.34, Z:26.13 [[ 2.46281436e-01 -9.68981572e-01 -2.04979985e-02 2.40571379e+02] [ 9.65512216e-01 2.47132687e-01 -8.19243298e-02 1.63343380e+02] [ 8.44488913e-02 3.85373641e-04 9.96427738e-01 2.61272812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:163.40, Z:26.13 [[ 2.48464596e-01 -9.68424775e-01 -2.04645896e-02 2.40586179e+02] [ 9.64952825e-01 2.49305200e-01 -8.19326745e-02 1.63397584e+02] [ 8.44475605e-02 6.10005336e-04 9.96427738e-01 2.61316276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:240.60, Y:163.45, Z:26.15 [[ 2.47505787e-01 -9.68671079e-01 -2.04261215e-02 2.40598776e+02] [ 9.65199174e-01 2.48346574e-01 -8.19422637e-02 1.63451813e+02] [ 8.44478583e-02 5.65908878e-04 9.96427739e-01 2.61470344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.61, Y:163.51, Z:26.16 [[ 2.40823714e-01 -9.70354619e-01 -2.03924368e-02 2.40611101e+02] [ 9.66887883e-01 2.41685566e-01 -8.19506458e-02 1.63507890e+02] [ 8.44497453e-02 1.84588857e-05 9.96427740e-01 2.61609088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:163.56, Z:26.17 [[ 2.27542591e-01 -9.73555243e-01 -2.03606834e-02 2.40623901e+02] [ 9.70099906e-01 2.28449057e-01 -8.19585342e-02 1.63564040e+02] [ 8.44425397e-02 -1.10283981e-03 9.96427740e-01 2.61692647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:163.62, Z:26.16 [[ 2.13556573e-01 -9.76719181e-01 -2.03280969e-02 2.40637038e+02] [ 9.73276442e-01 2.14509770e-01 -8.19666159e-02 1.63621048e+02] [ 8.44189413e-02 -2.28034820e-03 9.96427741e-01 2.61625884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:163.68, Z:26.16 [[ 2.03039916e-01 -9.78960140e-01 -2.02937411e-02 2.40645694e+02] [ 9.75527025e-01 2.04027211e-01 -8.19751210e-02 1.63678191e+02] [ 8.43908514e-02 -3.15287116e-03 9.96427741e-01 2.61623213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:163.73, Z:26.18 [[ 2.03262058e-01 -9.78914652e-01 -2.02642417e-02 2.40650340e+02] [ 9.75480605e-01 2.04246108e-01 -8.19824127e-02 1.63734015e+02] [ 8.43926775e-02 -3.10346078e-03 9.96427742e-01 2.61807737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27710568099997 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:163.79, Z:26.17 [[ 2.04756713e-01 -9.78603684e-01 -2.02365579e-02 2.40653404e+02] [ 9.75167480e-01 2.05733200e-01 -8.19892456e-02 1.63794262e+02] [ 8.43983096e-02 -2.94618474e-03 9.96427742e-01 2.61745166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33710568099997 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:163.85, Z:26.17 [[ 2.08731958e-01 -9.77763948e-01 -2.02146528e-02 2.40656802e+02] [ 9.74323291e-01 2.09692638e-01 -8.19946460e-02 1.63853705e+02] [ 8.44102727e-02 -2.58070406e-03 9.96427742e-01 2.61697246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39710568099997 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:163.91, Z:26.17 [[ 2.16320848e-01 -9.76113721e-01 -2.01815382e-02 2.40653510e+02] [ 9.72664954e-01 2.17251992e-01 -8.20027959e-02 1.63912920e+02] [ 8.44285336e-02 -1.89096056e-03 9.96427743e-01 2.61742732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457105681 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:163.97, Z:26.19 [[ 2.20797387e-01 -9.75111164e-01 -2.01675797e-02 2.40659250e+02] [ 9.71657851e-01 2.21711524e-01 -8.20062286e-02 1.63969954e+02] [ 8.44365739e-02 -1.48922615e-03 9.96427743e-01 2.61894629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517105681 meters Centerline goodness : 0.997725 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:164.03, Z:26.19 [[ 2.28645139e-01 -9.73301551e-01 -2.01367905e-02 2.40661182e+02] [ 9.69840323e-01 2.29528834e-01 -8.20137883e-02 1.64027863e+02] [ 8.44461215e-02 -7.77417368e-04 9.96427744e-01 2.61886228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577105681 meters Centerline goodness : 0.996955 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:164.09, Z:26.19 [[ 2.29188996e-01 -9.73174187e-01 -2.01098231e-02 2.40664042e+02] [ 9.69711888e-01 2.30068484e-01 -8.20204003e-02 1.64086381e+02] [ 8.44467729e-02 -7.02561329e-04 9.96427744e-01 2.61909245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637105681 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:240.67, Y:164.14, Z:26.20 [[ 2.23022958e-01 -9.74606453e-01 -2.00754256e-02 2.40672320e+02] [ 9.71149038e-01 2.23921455e-01 -8.20288186e-02 1.64143691e+02] [ 8.44411344e-02 -1.20192047e-03 9.96427745e-01 2.61992935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697105681 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:240.68, Y:164.20, Z:26.21 [[ 2.24151141e-01 -9.74348229e-01 -2.00448071e-02 2.40683730e+02] [ 9.70889112e-01 2.25043057e-01 -8.20363000e-02 1.64200834e+02] [ 8.44428683e-02 -1.07275477e-03 9.96427745e-01 2.62054644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757105681 meters Centerline goodness : 0.993651 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:164.26, Z:26.18 [[ 2.61778802e-01 -9.64920384e-01 -2.00127983e-02 2.40714523e+02] [ 9.61428683e-01 2.62533143e-01 -8.20441079e-02 1.64255486e+02] [ 8.44200549e-02 2.23652995e-03 9.96427746e-01 2.61842274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817105681 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:164.31, Z:26.20 [[ 2.42702190e-01 -9.69895062e-01 -1.99804012e-02 2.40707701e+02] [ 9.66418267e-01 2.43522491e-01 -8.20519969e-02 1.64313972e+02] [ 8.44475037e-02 6.04774680e-04 9.96427746e-01 2.62038193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877105681 meters Centerline goodness : 0.990413 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:164.37, Z:26.19 [[ 2.44079846e-01 -9.69549799e-01 -1.99553359e-02 2.40714024e+02] [ 9.66071346e-01 2.44893085e-01 -8.20580925e-02 1.64373151e+02] [ 8.44463309e-02 7.50448294e-04 9.96427747e-01 2.61943764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937105681 meters Centerline goodness : 0.987891 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:164.42, Z:26.19 [[ 2.94370570e-01 -9.55483665e-01 -1.99231794e-02 2.40763064e+02] [ 9.51967003e-01 2.94998327e-01 -8.20658992e-02 1.64421171e+02] [ 8.42899307e-02 5.19157611e-03 9.96427747e-01 2.61895757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters Centerline goodness : 0.996329 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:164.48, Z:26.22 [[ 2.76266240e-01 -9.60875235e-01 -1.98933856e-02 2.40764846e+02] [ 9.57370559e-01 2.76957786e-01 -8.20731208e-02 1.64477370e+02] [ 8.43716573e-02 3.62869086e-03 9.96427748e-01 2.62229785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters Centerline goodness : 0.990781 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:164.53, Z:26.21 [[ 3.04467534e-01 -9.52315609e-01 -1.98620521e-02 2.40809919e+02] [ 9.48791627e-01 3.05052794e-01 -8.20807030e-02 1.64526909e+02] [ 8.42257092e-02 6.14596046e-03 9.96427748e-01 2.62103889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:164.59, Z:26.22 [[ 2.52584366e-01 -9.67371634e-01 -1.98307931e-02 2.40802553e+02] [ 9.63883820e-01 2.53356467e-01 -8.20882545e-02 1.64588042e+02] [ 8.44341086e-02 1.61962910e-03 9.96427749e-01 2.62154013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:240.84, Y:164.64, Z:26.24 [[ 2.73904724e-01 -9.61552977e-01 -1.98008864e-02 2.40843275e+02] [ 9.58048446e-01 2.74596995e-01 -8.20954679e-02 1.64635032e+02] [ 8.43764054e-02 3.51612807e-03 9.96427749e-01 2.62428957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:164.69, Z:26.25 [[ 2.70278148e-01 -9.62579116e-01 -1.97779971e-02 2.40874296e+02] [ 9.59076827e-01 2.70981675e-01 -8.21009819e-02 1.64686557e+02] [ 8.43881653e-02 3.22148259e-03 9.96427749e-01 2.62476578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:240.90, Y:164.74, Z:26.25 [[ 2.76309587e-01 -9.60865832e-01 -1.97449827e-02 2.40903178e+02] [ 9.57358655e-01 2.76988322e-01 -8.21089210e-02 1.64738928e+02] [ 8.43647864e-02 3.78445195e-03 9.96427750e-01 2.62466499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:164.79, Z:26.26 [[ 2.81895253e-01 -9.59242658e-01 -1.97126476e-02 2.40932725e+02] [ 9.55731076e-01 2.82550811e-01 -8.21166833e-02 1.64791312e+02] [ 8.43396502e-02 4.30831333e-03 9.96427750e-01 2.62565615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:164.84, Z:26.27 [[ 2.85939389e-01 -9.58045554e-01 -1.96820357e-02 2.40961815e+02] [ 9.54530762e-01 2.86577511e-01 -8.21240199e-02 1.64843215e+02] [ 8.43189809e-02 4.69538354e-03 9.96427751e-01 2.62680039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:164.90, Z:26.27 [[ 2.86130996e-01 -9.57988970e-01 -1.96516074e-02 2.40988067e+02] [ 9.54473581e-01 2.86765816e-01 -8.21313006e-02 1.64896050e+02] [ 8.43162893e-02 4.74337080e-03 9.96427751e-01 2.62742682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53710568099996 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:241.02, Y:164.95, Z:26.28 [[ 2.79208595e-01 -9.60029991e-01 -1.96208510e-02 2.41017137e+02] [ 9.56518783e-01 2.79866148e-01 -8.21386475e-02 1.64947821e+02] [ 8.43467770e-02 4.16610381e-03 9.96427752e-01 2.62765957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59710568099996 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:165.00, Z:26.29 [[ 2.69531796e-01 -9.62792276e-01 -1.95868264e-02 2.41046882e+02] [ 9.59287293e-01 2.70221758e-01 -8.21467603e-02 1.65000096e+02] [ 8.43830530e-02 3.35177010e-03 9.96427753e-01 2.62857093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65710568099996 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:165.05, Z:26.29 [[ 2.61592222e-01 -9.64980335e-01 -1.95566318e-02 2.41070669e+02] [ 9.61480628e-01 2.62308463e-01 -8.21539481e-02 1.65054730e+02] [ 8.44068144e-02 2.68751124e-03 9.96427753e-01 2.62867580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71710568099996 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:165.11, Z:26.29 [[ 2.57526998e-01 -9.66073750e-01 -1.95282885e-02 2.41091743e+02] [ 9.62576588e-01 2.58255559e-01 -8.21606849e-02 1.65107058e+02] [ 8.44165701e-02 2.36112119e-03 9.96427753e-01 2.62902604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77710568099997 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:165.17, Z:26.28 [[ 2.44910639e-01 -9.69349679e-01 -1.94930422e-02 2.41100552e+02] [ 9.65861651e-01 2.45681744e-01 -8.21690465e-02 1.65165222e+02] [ 8.44396234e-02 1.29649175e-03 9.96427754e-01 2.62820716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83710568099997 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:241.12, Y:165.22, Z:26.30 [[ 2.55566993e-01 -9.66595413e-01 -1.94632887e-02 2.41121446e+02] [ 9.63098579e-01 2.56297124e-01 -8.21760936e-02 1.65218614e+02] [ 8.44194200e-02 2.25643143e-03 9.96427755e-01 2.63039468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89710568099997 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:241.14, Y:165.27, Z:26.29 [[ 2.69812995e-01 -9.62716619e-01 -1.94334723e-02 2.41141735e+02] [ 9.59208894e-01 2.70488868e-01 -8.21831442e-02 1.65274294e+02] [ 8.43756166e-02 3.53332085e-03 9.96427755e-01 2.62852839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957105681 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:241.15, Y:165.33, Z:26.31 [[ 2.63892179e-01 -9.64357020e-01 -1.94024838e-02 2.41146014e+02] [ 9.60852991e-01 2.64586956e-01 -8.21904596e-02 1.65330539e+02] [ 8.43945908e-02 3.04648489e-03 9.96427756e-01 2.63107359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:165.39, Z:26.32 [[ 2.70559027e-01 -9.62508498e-01 -1.93702065e-02 2.41156683e+02] [ 9.58999222e-01 2.71226789e-01 -8.21980659e-02 1.65385676e+02] [ 8.43700558e-02 3.66341571e-03 9.96427756e-01 2.63239134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:165.44, Z:26.33 [[ 2.71156701e-01 -9.62340730e-01 -1.93484603e-02 2.41170162e+02] [ 9.58830689e-01 2.71820431e-01 -8.22031844e-02 1.65441533e+02] [ 8.43667793e-02 3.73804683e-03 9.96427756e-01 2.63347535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:241.19, Y:165.49, Z:26.33 [[ 2.73604648e-01 -9.61648252e-01 -1.93167155e-02 2.41193921e+02] [ 9.58136030e-01 2.74256736e-01 -8.22106434e-02 1.65494463e+02] [ 8.43554609e-02 3.98517299e-03 9.96427757e-01 2.63285138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197105681 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:165.55, Z:26.34 [[ 2.72098009e-01 -9.62076184e-01 -1.92896351e-02 2.41212306e+02] [ 9.58564557e-01 2.72753288e-01 -8.22169970e-02 1.65548776e+02] [ 8.43603261e-02 3.88072068e-03 9.96427757e-01 2.63386261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257105681 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:165.60, Z:26.34 [[ 2.76589602e-01 -9.60795185e-01 -1.92562573e-02 2.41231583e+02] [ 9.57280019e-01 2.77225621e-01 -8.22248138e-02 1.65603992e+02] [ 8.43395331e-02 4.30889819e-03 9.96427758e-01 2.63379310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317105681 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:241.25, Y:165.66, Z:26.34 [[ 2.80978936e-01 -9.59521405e-01 -1.92226639e-02 2.41250827e+02] [ 9.56002864e-01 2.81596009e-01 -8.22326666e-02 1.65658583e+02] [ 8.43170292e-02 4.72872545e-03 9.96427758e-01 2.63420518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377105681 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:241.27, Y:165.71, Z:26.34 [[ 2.80710613e-01 -9.59600607e-01 -1.91892210e-02 2.41270853e+02] [ 9.56081739e-01 2.81325813e-01 -8.22404699e-02 1.65713594e+02] [ 8.43164281e-02 4.73930894e-03 9.96427759e-01 2.63391109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437105681 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:241.29, Y:165.77, Z:26.35 [[ 2.71777690e-01 -9.62169184e-01 -1.91663352e-02 2.41294795e+02] [ 9.58655828e-01 2.72423625e-01 -8.22458032e-02 1.65767171e+02] [ 8.43557399e-02 3.97865552e-03 9.96427759e-01 2.63518920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:241.31, Y:165.82, Z:26.36 [[ 2.51465881e-01 -9.67676976e-01 -1.91358336e-02 2.41313367e+02] [ 9.64177463e-01 2.52183031e-01 -8.22528993e-02 1.65821548e+02] [ 8.44199694e-02 2.23345828e-03 9.96427760e-01 2.63593536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:165.88, Z:26.36 [[ 2.44903333e-01 -9.69359301e-01 -1.91024531e-02 2.41340066e+02] [ 9.65864128e-01 2.45641347e-01 -8.22606509e-02 1.65875495e+02] [ 8.44324794e-02 1.69553334e-03 9.96427760e-01 2.63590773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:165.93, Z:26.37 [[ 2.15209622e-01 -9.76381682e-01 -1.90690577e-02 2.41339297e+02] [ 9.72909975e-01 2.16051133e-01 -8.22683917e-02 1.65934522e+02] [ 8.44452422e-02 -8.47526950e-04 9.96427761e-01 2.63662929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:241.36, Y:165.99, Z:26.38 [[ 2.22453694e-01 -9.74757447e-01 -1.90334622e-02 2.41360218e+02] [ 9.71278885e-01 2.23266399e-01 -8.22766263e-02 1.65986444e+02] [ 8.44492868e-02 -1.84060536e-04 9.96427762e-01 2.63779887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:166.04, Z:26.38 [[ 2.15762308e-01 -9.76261211e-01 -1.89914508e-02 2.41367699e+02] [ 9.72787454e-01 2.16595313e-01 -8.22863225e-02 1.66042126e+02] [ 8.44464040e-02 -7.20358285e-04 9.96427763e-01 2.63820986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:166.10, Z:26.38 [[ 2.11683177e-01 -9.77154352e-01 -1.89632336e-02 2.41370223e+02] [ 9.73683526e-01 2.12528308e-01 -8.22928248e-02 1.66100610e+02] [ 8.44430158e-02 -1.04418153e-03 9.96427763e-01 2.63839391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:166.16, Z:26.39 [[ 2.16914297e-01 -9.76007009e-01 -1.89342464e-02 2.41375753e+02] [ 9.72531126e-01 2.17738379e-01 -8.22994938e-02 1.66158392e+02] [ 8.44475949e-02 -5.62207148e-04 9.96427763e-01 2.63876207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:166.22, Z:26.40 [[ 2.31005831e-01 -9.72768934e-01 -1.88919816e-02 2.41374520e+02] [ 9.69280707e-01 2.31775987e-01 -8.23091946e-02 1.66217460e+02] [ 8.44465352e-02 7.02270673e-04 9.96427764e-01 2.63961073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:166.28, Z:26.40 [[ 2.42294371e-01 -9.70019504e-01 -1.88573756e-02 2.41367955e+02] [ 9.66521952e-01 2.43021003e-01 -8.23171223e-02 1.66278151e+02] [ 8.44319525e-02 1.71890793e-03 9.96427765e-01 2.64007779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03710568099996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:166.34, Z:26.41 [[ 2.40391930e-01 -9.70493334e-01 -1.88257152e-02 2.41377079e+02] [ 9.66996653e-01 2.41122735e-01 -8.23243624e-02 1.66335161e+02] [ 8.44345529e-02 1.58570882e-03 9.96427765e-01 2.64057916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09710568099996 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:166.39, Z:26.41 [[ 2.38183661e-01 -9.71038327e-01 -1.87912528e-02 2.41389792e+02] [ 9.67542701e-01 2.38919497e-01 -8.23322280e-02 1.66391650e+02] [ 8.44373456e-02 1.42885202e-03 9.96427766e-01 2.64085717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15710568099996 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:166.45, Z:26.42 [[ 2.33908644e-01 -9.72077633e-01 -1.87568994e-02 2.41399205e+02] [ 9.68584655e-01 2.34656945e-01 -8.23400537e-02 1.66448530e+02] [ 8.44423612e-02 1.09240542e-03 9.96427767e-01 2.64162995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21710568099996 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:241.41, Y:166.50, Z:26.41 [[ 2.45721879e-01 -9.69159574e-01 -1.87210725e-02 2.41411574e+02] [ 9.65657136e-01 2.46424571e-01 -8.23481987e-02 1.66504721e+02] [ 8.44218774e-02 2.15661682e-03 9.96427767e-01 2.64144818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27710568099997 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:241.43, Y:166.56, Z:26.42 [[ 2.68277735e-01 -9.63160419e-01 -1.86832496e-02 2.41426161e+02] [ 9.59641966e-01 2.68895254e-01 -8.23567791e-02 1.66560854e+02] [ 8.43466271e-02 4.16525986e-03 9.96427768e-01 2.64164149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33710568099997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:166.62, Z:26.41 [[ 2.74501233e-01 -9.61405868e-01 -1.86501808e-02 2.41442688e+02] [ 9.57883020e-01 2.75093160e-01 -8.23642671e-02 1.66617052e+02] [ 8.43160269e-02 4.74440135e-03 9.96427769e-01 2.64131468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39710568099997 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:166.67, Z:26.42 [[ 2.70111280e-01 -9.62649068e-01 -1.86190190e-02 2.41463679e+02] [ 9.59128500e-01 2.70716618e-01 -8.23713109e-02 1.66671401e+02] [ 8.43351436e-02 4.39138843e-03 9.96427769e-01 2.64240102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457105681 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:241.49, Y:166.73, Z:26.43 [[ 2.64952475e-01 -9.64082299e-01 -1.85878273e-02 2.41488745e+02] [ 9.60564553e-01 2.65573997e-01 -8.23783491e-02 1.66725171e+02] [ 8.43559517e-02 3.97153944e-03 9.96427770e-01 2.64318497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517105681 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:166.78, Z:26.43 [[ 2.60095460e-01 -9.65404572e-01 -1.85570325e-02 2.41506690e+02] [ 9.61889524e-01 2.60732062e-01 -8.23852855e-02 1.66780719e+02] [ 8.43735447e-02 3.57822359e-03 9.96427770e-01 2.64337710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:241.52, Y:166.84, Z:26.44 [[ 2.63943326e-01 -9.64360283e-01 -1.85247039e-02 2.41522762e+02] [ 9.60842238e-01 2.64563150e-01 -8.23925542e-02 1.66835171e+02] [ 8.43570609e-02 3.94764684e-03 9.96427771e-01 2.64381954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637105681 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:166.89, Z:26.45 [[ 2.65134833e-01 -9.64034084e-01 -1.84879965e-02 2.41541405e+02] [ 9.60514730e-01 2.65747179e-01 -8.24007901e-02 1.66890179e+02] [ 8.43503031e-02 4.08932681e-03 9.96427771e-01 2.64478005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:166.94, Z:26.46 [[ 2.58167137e-01 -9.65923970e-01 -1.84557285e-02 2.41561298e+02] [ 9.62408633e-01 2.58802130e-01 -8.24080168e-02 1.66942383e+02] [ 8.43762606e-02 3.51308932e-03 9.96427772e-01 2.64576883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:167.00, Z:26.46 [[ 2.47751404e-01 -9.68648586e-01 -1.84162541e-02 2.41581698e+02] [ 9.65139649e-01 2.48420858e-01 -8.24168375e-02 1.66997447e+02] [ 8.44079348e-02 2.64463018e-03 9.96427773e-01 2.64587934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:241.60, Y:167.05, Z:26.46 [[ 2.36332123e-01 -9.71498452e-01 -1.83816409e-02 2.41598778e+02] [ 9.67997045e-01 2.37039899e-01 -8.24245567e-02 1.67051180e+02] [ 8.44325116e-02 1.68619634e-03 9.96427773e-01 2.64605216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877105681 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:241.61, Y:167.11, Z:26.46 [[ 2.26913176e-01 -9.73742002e-01 -1.83554743e-02 2.41611947e+02] [ 9.70247144e-01 2.27652611e-01 -8.24303835e-02 1.67106505e+02] [ 8.44445983e-02 8.95193582e-04 9.96427774e-01 2.64640002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937105681 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:167.16, Z:26.47 [[ 2.11805514e-01 -9.77140057e-01 -1.83230234e-02 2.41629373e+02] [ 9.73656448e-01 2.12596249e-01 -8.24375962e-02 1.67161632e+02] [ 8.44484835e-02 -3.79592434e-04 9.96427774e-01 2.64672584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:241.64, Y:167.22, Z:26.47 [[ 2.03904520e-01 -9.78819845e-01 -1.82936784e-02 2.41639881e+02] [ 9.75342156e-01 2.04720901e-01 -8.24441077e-02 1.67217852e+02] [ 8.44430270e-02 -1.03186950e-03 9.96427775e-01 2.64671354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:241.65, Y:167.27, Z:26.47 [[ 2.08368612e-01 -9.77879921e-01 -1.82587316e-02 2.41652202e+02] [ 9.74397869e-01 2.09166170e-01 -8.24518466e-02 1.67274864e+02] [ 8.44471142e-02 -6.10892354e-04 9.96427775e-01 2.64686170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:167.33, Z:26.48 [[ 2.19502919e-01 -9.75441599e-01 -1.82251642e-02 2.41657482e+02] [ 9.71950066e-01 2.20257892e-01 -8.24592658e-02 1.67331356e+02] [ 8.44484342e-02 3.86099997e-04 9.96427776e-01 2.64808093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:241.67, Y:167.39, Z:26.49 [[ 2.33428032e-01 -9.72203928e-01 -1.81899844e-02 2.41665161e+02] [ 9.68701359e-01 2.34130021e-01 -8.24670255e-02 1.67388086e+02] [ 8.44335876e-02 1.62945283e-03 9.96427777e-01 2.64886707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters Centerline goodness : 0.996744 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:167.45, Z:26.47 [[ 2.31279448e-01 -9.72717932e-01 -1.81560270e-02 2.41663097e+02] [ 9.69216341e-01 2.31986296e-01 -8.24745010e-02 1.67449181e+02] [ 8.44363755e-02 1.47753909e-03 9.96427777e-01 2.64746653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:167.50, Z:26.50 [[ 2.42783483e-01 -9.69911147e-01 -1.81258848e-02 2.41680857e+02] [ 9.66400946e-01 2.43446250e-01 -8.24811250e-02 1.67502913e+02] [ 8.44120412e-02 2.50818264e-03 9.96427778e-01 2.65012950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters Centerline goodness : 0.997726 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:167.56, Z:26.49 [[ 2.25830541e-01 -9.73998609e-01 -1.80907678e-02 2.41683068e+02] [ 9.70499888e-01 2.26551454e-01 -8.24888266e-02 1.67562966e+02] [ 8.44424922e-02 1.07140825e-03 9.96427778e-01 2.64852490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters Centerline goodness : 0.998196 with order 1 Centerline is valid? [True, True] Translation: X:241.69, Y:167.62, Z:26.49 [[ 2.37162757e-01 -9.71302180e-01 -1.80527394e-02 2.41693604e+02] [ 9.67794674e-01 2.37839631e-01 -8.24971484e-02 1.67620198e+02] [ 8.44233170e-02 2.09390606e-03 9.96427779e-01 2.64908413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47710568099995 meters Centerline goodness : 0.998136 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:167.67, Z:26.50 [[ 2.52120790e-01 -9.67527948e-01 -1.80215789e-02 2.41711684e+02] [ 9.64009947e-01 2.52740814e-01 -8.25039549e-02 1.67674970e+02] [ 8.43796707e-02 3.42798098e-03 9.96427780e-01 2.64984519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53710568099996 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:241.73, Y:167.73, Z:26.50 [[ 2.56358971e-01 -9.66414222e-01 -1.79897075e-02 2.41727795e+02] [ 9.62893073e-01 2.56960855e-01 -8.25109038e-02 1.67730244e+02] [ 8.43623616e-02 3.83024571e-03 9.96427780e-01 2.65036097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59710568099996 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:167.78, Z:26.51 [[ 2.49962180e-01 -9.68089120e-01 -1.79545059e-02 2.41745093e+02] [ 9.64571498e-01 2.50584341e-01 -8.25185631e-02 1.67784094e+02] [ 8.43844412e-02 3.30811521e-03 9.96427781e-01 2.65064722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65710568099996 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:167.84, Z:26.51 [[ 2.39369085e-01 -9.70763297e-01 -1.79181947e-02 2.41762574e+02] [ 9.67252105e-01 2.40026562e-01 -8.25264471e-02 1.67838150e+02] [ 8.44144886e-02 2.42286859e-03 9.96427782e-01 2.65129292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71710568099996 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:167.89, Z:26.52 [[ 2.33024162e-01 -9.72306500e-01 -1.78832132e-02 2.41777102e+02] [ 9.68799103e-01 2.33701587e-01 -8.25340268e-02 1.67893831e+02] [ 8.44277061e-02 1.90718153e-03 9.96427782e-01 2.65189759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77710568099997 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:167.95, Z:26.53 [[ 2.38530837e-01 -9.70970823e-01 -1.78521860e-02 2.41796307e+02] [ 9.67459151e-01 2.39185739e-01 -8.25407375e-02 1.67948345e+02] [ 8.44146362e-02 2.41725044e-03 9.96427783e-01 2.65313822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83710568099997 meters Centerline goodness : 0.998265 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:168.01, Z:26.54 [[ 2.43597893e-01 -9.69712378e-01 -1.78317138e-02 2.41805735e+02] [ 9.66197020e-01 2.44232708e-01 -8.25451600e-02 1.68005439e+02] [ 8.44001512e-02 2.87887828e-03 9.96427783e-01 2.65359428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89710568099997 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:168.06, Z:26.54 [[ 2.45245692e-01 -9.69297572e-01 -1.77979903e-02 2.41823702e+02] [ 9.65780628e-01 2.45871663e-01 -8.25524308e-02 1.68061075e+02] [ 8.43938921e-02 3.05667374e-03 9.96427784e-01 2.65424795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957105681 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:168.12, Z:26.55 [[ 2.43571087e-01 -9.69720375e-01 -1.77628860e-02 2.41841399e+02] [ 9.66203983e-01 2.44200147e-01 -8.25599835e-02 1.68115511e+02] [ 8.43977976e-02 2.94665365e-03 9.96427784e-01 2.65452174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017105681 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:241.85, Y:168.17, Z:26.55 [[ 2.39858384e-01 -9.70645888e-01 -1.77345914e-02 2.41854723e+02] [ 9.67131491e-01 2.40498492e-01 -8.25660611e-02 1.68171746e+02] [ 8.44075501e-02 2.65248017e-03 9.96427785e-01 2.65537188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077105681 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:168.22, Z:26.56 [[ 2.32035638e-01 -9.72546281e-01 -1.76973076e-02 2.41875437e+02] [ 9.69036551e-01 2.32700857e-01 -8.25740518e-02 1.68224293e+02] [ 8.44252656e-02 2.01078485e-03 9.96427785e-01 2.65636445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137105681 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:168.28, Z:26.57 [[ 2.22659802e-01 -9.74736353e-01 -1.76537541e-02 2.41889803e+02] [ 9.71232459e-01 2.23355098e-01 -8.25833623e-02 1.68281077e+02] [ 8.44400613e-02 1.24209609e-03 9.96427786e-01 2.65653673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197105681 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:241.90, Y:168.34, Z:26.57 [[ 2.20942070e-01 -9.75127842e-01 -1.76151587e-02 2.41903225e+02] [ 9.71624526e-01 2.21640270e-01 -8.25915940e-02 1.68336650e+02] [ 8.44415913e-02 1.13263757e-03 9.96427787e-01 2.65668786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257105681 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:241.91, Y:168.39, Z:26.57 [[ 2.28812307e-01 -9.73311840e-01 -1.75781271e-02 2.41911852e+02] [ 9.69802401e-01 2.29479042e-01 -8.25994748e-02 1.68392556e+02] [ 8.44288585e-02 1.85246649e-03 9.96427788e-01 2.65738971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317105681 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:168.45, Z:26.58 [[ 2.40481479e-01 -9.70495198e-01 -1.75422133e-02 2.41919724e+02] [ 9.66977466e-01 2.41102979e-01 -8.26071014e-02 1.68449005e+02] [ 8.43992751e-02 2.90255298e-03 9.96427788e-01 2.65761215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:168.50, Z:26.58 [[ 2.46685224e-01 -9.68937526e-01 -1.75063124e-02 2.41932486e+02] [ 9.65415373e-01 2.47281150e-01 -8.26147090e-02 1.68504876e+02] [ 8.43774728e-02 3.47896483e-03 9.96427789e-01 2.65813944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437105681 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:241.95, Y:168.56, Z:26.58 [[ 2.48157745e-01 -9.68562207e-01 -1.74638301e-02 2.41949102e+02] [ 9.65038549e-01 2.48744700e-01 -8.26236883e-02 1.68560869e+02] [ 8.43702171e-02 3.65043886e-03 9.96427790e-01 2.65778714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:168.62, Z:26.58 [[ 2.36153966e-01 -9.71559466e-01 -1.74214912e-02 2.41965737e+02] [ 9.68042698e-01 2.36780881e-01 -8.26326148e-02 1.68616308e+02] [ 8.44075751e-02 2.64927236e-03 9.96427791e-01 2.65837641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:241.99, Y:168.67, Z:26.60 [[ 2.20174060e-01 -9.75305590e-01 -1.73893556e-02 2.41988936e+02] [ 9.71799057e-01 2.20855895e-01 -8.26393769e-02 1.68669747e+02] [ 8.44391880e-02 1.29608775e-03 9.96427792e-01 2.65982837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:168.72, Z:26.60 [[ 2.09709201e-01 -9.77609707e-01 -1.73583093e-02 2.42001094e+02] [ 9.74110145e-01 2.10425952e-01 -8.26458977e-02 1.68723879e+02] [ 8.44480706e-02 4.22700023e-04 9.96427792e-01 2.66042796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:168.78, Z:26.60 [[ 2.11068290e-01 -9.77317798e-01 -1.73233578e-02 2.42020767e+02] [ 9.73816643e-01 2.11777218e-01 -8.26532233e-02 1.68778315e+02] [ 8.44471587e-02 5.75700342e-04 9.96427793e-01 2.66004699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:168.84, Z:26.62 [[ 2.09066693e-01 -9.77748551e-01 -1.72883853e-02 2.42020616e+02] [ 9.74248252e-01 2.09779832e-01 -8.26605378e-02 1.68835546e+02] [ 8.44479757e-02 4.38386087e-04 9.96427793e-01 2.66183464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:168.89, Z:26.62 [[ 2.15844324e-01 -9.76275422e-01 -1.72490292e-02 2.42025696e+02] [ 9.72769608e-01 2.16529833e-01 -8.26687496e-02 1.68893627e+02] [ 8.44423978e-02 1.06424898e-03 9.96427794e-01 2.66177213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:168.95, Z:26.62 [[ 2.24060759e-01 -9.74423268e-01 -1.72067409e-02 2.42036814e+02] [ 9.70911136e-01 2.24713124e-01 -8.26775507e-02 1.68949184e+02] [ 8.44295096e-02 1.81857837e-03 9.96427795e-01 2.66208515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:169.01, Z:26.62 [[ 2.28551190e-01 -9.73380451e-01 -1.71712381e-02 2.42043163e+02] [ 9.69864806e-01 2.29184342e-01 -8.26849236e-02 1.69005634e+02] [ 8.44192671e-02 2.24395820e-03 9.96427796e-01 2.66218618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97710568099995 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:169.06, Z:26.62 [[ 2.18655007e-01 -9.75651853e-01 -1.71303886e-02 2.42051305e+02] [ 9.72142161e-01 2.19320366e-01 -8.26933859e-02 1.69062564e+02] [ 8.44369983e-02 1.42814987e-03 9.96427797e-01 2.66245519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03710568099996 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:242.07, Y:169.12, Z:26.65 [[ 2.28288251e-01 -9.73443547e-01 -1.70919934e-02 2.42068482e+02] [ 9.69926867e-01 2.28915626e-01 -8.27013212e-02 1.69115602e+02] [ 8.44176917e-02 2.30175632e-03 9.96427797e-01 2.66454975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09710568099996 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:169.17, Z:26.65 [[ 2.36006511e-01 -9.71601832e-01 -1.70530730e-02 2.42078173e+02] [ 9.68079723e-01 2.36602649e-01 -8.27093459e-02 1.69171231e+02] [ 8.43953542e-02 3.01120998e-03 9.96427798e-01 2.66503581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15710568099996 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:169.23, Z:26.65 [[ 2.43195846e-01 -9.69827810e-01 -1.70234977e-02 2.42088342e+02] [ 9.66300978e-01 2.43763365e-01 -8.27154327e-02 1.69226286e+02] [ 8.43694321e-02 3.66622717e-03 9.96427799e-01 2.66525076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21710568099996 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:242.10, Y:169.28, Z:26.66 [[ 2.44080059e-01 -9.69606282e-01 -1.69877438e-02 2.42102951e+02] [ 9.66078448e-01 2.44641317e-01 -8.27227751e-02 1.69279632e+02] [ 8.43644264e-02 3.77948668e-03 9.96427799e-01 2.66559831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27710568099997 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:169.33, Z:26.66 [[ 2.44083030e-01 -9.69606263e-01 -1.69460877e-02 2.42118116e+02] [ 9.66077866e-01 2.44640731e-01 -8.27313077e-02 1.69334138e+02] [ 8.43624974e-02 3.82206803e-03 9.96427800e-01 2.66552925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33710568099997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:169.39, Z:26.65 [[ 2.35102358e-01 -9.71823564e-01 -1.69068424e-02 2.42137458e+02] [ 9.68299922e-01 2.35689341e-01 -8.27393271e-02 1.69388382e+02] [ 8.43927903e-02 3.08131677e-03 9.96427801e-01 2.66516258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.16, Y:169.44, Z:26.66 [[ 2.19376575e-01 -9.75494472e-01 -1.68657539e-02 2.42160711e+02] [ 9.71980133e-01 2.20016905e-01 -8.27477019e-02 1.69442766e+02] [ 8.44306768e-02 1.75972968e-03 9.96427802e-01 2.66597044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:169.50, Z:26.66 [[ 1.97739362e-01 -9.80110138e-01 -1.68303849e-02 2.42172977e+02] [ 9.76610217e-01 1.98454307e-01 -8.27548952e-02 1.69498291e+02] [ 8.44489741e-02 -7.28256977e-05 9.96427802e-01 2.66588846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:169.55, Z:26.67 [[ 1.89762854e-01 -9.81686112e-01 -1.68058763e-02 2.42185769e+02] [ 9.78191681e-01 1.90504170e-01 -8.27598721e-02 1.69553073e+02] [ 8.44458066e-02 -7.34618859e-04 9.96427803e-01 2.66745798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577105681 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:169.61, Z:26.68 [[ 1.90512020e-01 -9.81541670e-01 -1.67666313e-02 2.42187609e+02] [ 9.78045978e-01 1.91247359e-01 -8.27678222e-02 1.69609312e+02] [ 8.44466404e-02 -6.30271344e-04 9.96427804e-01 2.66821195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:169.67, Z:26.69 [[ 1.93182152e-01 -9.81020316e-01 -1.67270722e-02 2.42192658e+02] [ 9.77521946e-01 1.93904639e-01 -8.27758163e-02 1.69666890e+02] [ 8.44482144e-02 -3.60269829e-04 9.96427804e-01 2.66855152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697105681 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:242.20, Y:169.72, Z:26.68 [[ 1.91228753e-01 -9.81403610e-01 -1.66888464e-02 2.42196041e+02] [ 9.77906015e-01 1.91954979e-01 -8.27835225e-02 1.69724428e+02] [ 8.44475550e-02 -4.89533545e-04 9.96427805e-01 2.66806163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757105681 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:169.78, Z:26.68 [[ 1.96167219e-01 -9.80429009e-01 -1.66547290e-02 2.42205022e+02] [ 9.76927221e-01 1.96872947e-01 -8.27903859e-02 1.69780976e+02] [ 8.44489616e-02 -2.96982701e-05 9.96427806e-01 2.66820623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:169.84, Z:26.69 [[ 2.01162080e-01 -9.79416918e-01 -1.66228169e-02 2.42213858e+02] [ 9.75911050e-01 2.01847251e-01 -8.27967928e-02 1.69836080e+02] [ 8.44478496e-02 4.33184358e-04 9.96427806e-01 2.66869725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877105681 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:169.89, Z:26.70 [[ 2.03650895e-01 -9.78903039e-01 -1.65877344e-02 2.42220919e+02] [ 9.75394871e-01 2.04324186e-01 -8.28038208e-02 1.69891828e+02] [ 8.44461872e-02 6.83481177e-04 9.96427807e-01 2.66974886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:169.95, Z:26.70 [[ 2.09409204e-01 -9.77687998e-01 -1.65518426e-02 2.42223554e+02] [ 9.74175365e-01 2.10058794e-01 -8.28109947e-02 1.69948025e+02] [ 8.44401758e-02 1.21698713e-03 9.96427808e-01 2.67020260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:170.00, Z:26.72 [[ 2.21287496e-01 -9.75068580e-01 -1.65259996e-02 2.42232785e+02] [ 9.71547927e-01 2.21892113e-01 -8.28161517e-02 1.70002591e+02] [ 8.44184164e-02 2.27037819e-03 9.96427808e-01 2.67229501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:170.06, Z:26.71 [[ 2.28622900e-01 -9.73375403e-01 -1.64892346e-02 2.42230772e+02] [ 9.69849787e-01 2.29197868e-01 -8.28234713e-02 1.70062376e+02] [ 8.43976271e-02 2.94326152e-03 9.96427809e-01 2.67119598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:170.12, Z:26.72 [[ 2.43396120e-01 -9.69787468e-01 -1.64497701e-02 2.42241887e+02] [ 9.66253025e-01 2.43914054e-01 -8.28313088e-02 1.70119181e+02] [ 8.43410954e-02 4.26617897e-03 9.96427809e-01 2.67200056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:242.25, Y:170.18, Z:26.72 [[ 2.42676064e-01 -9.69968445e-01 -1.64177687e-02 2.42253626e+02] [ 9.66433988e-01 2.43193896e-01 -8.28376512e-02 1.70175488e+02] [ 8.43426089e-02 4.23602540e-03 9.96427810e-01 2.67243169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:170.23, Z:26.73 [[ 2.29344533e-01 -9.73207462e-01 -1.63805059e-02 2.42270854e+02] [ 9.69679936e-01 2.29907645e-01 -8.28450191e-02 1.70231486e+02] [ 8.43913943e-02 3.11620432e-03 9.96427811e-01 2.67276248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:170.28, Z:26.73 [[ 2.20070199e-01 -9.75347037e-01 -1.63482171e-02 2.42293630e+02] [ 9.71824568e-01 2.20664123e-01 -8.28513903e-02 1.70284864e+02] [ 8.44163231e-02 2.34552290e-03 9.96427811e-01 2.67292208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:242.31, Y:170.34, Z:26.73 [[ 2.06677163e-01 -9.78273164e-01 -1.63146043e-02 2.42306280e+02] [ 9.74758651e-01 2.07316479e-01 -8.28580087e-02 1.70340292e+02] [ 8.44400527e-02 1.22205650e-03 9.96427812e-01 2.67343959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:170.40, Z:26.74 [[ 1.99639128e-01 -9.79734234e-01 -1.62803409e-02 2.42318398e+02] [ 9.76223861e-01 2.00300795e-01 -8.28647404e-02 1.70396573e+02] [ 8.44463882e-02 6.49787192e-04 9.96427812e-01 2.67435915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47710568099995 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:170.45, Z:26.75 [[ 1.98624972e-01 -9.79940984e-01 -1.62415591e-02 2.42328024e+02] [ 9.76430678e-01 1.99286993e-01 -8.28723411e-02 1.70451817e+02] [ 8.44467349e-02 6.01759841e-04 9.96427813e-01 2.67484490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53710568099996 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:170.51, Z:26.75 [[ 1.91346726e-01 -9.81388800e-01 -1.62004131e-02 2.42330816e+02] [ 9.77882825e-01 1.92031307e-01 -8.28803839e-02 1.70510155e+02] [ 8.44488670e-02 1.67843549e-05 9.96427814e-01 2.67482391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59710568099996 meters Centerline goodness : 0.997678 with order 1 Centerline is valid? [True, True] Translation: X:242.34, Y:170.57, Z:26.76 [[ 1.80845431e-01 -9.83378735e-01 -1.61614861e-02 2.42340066e+02] [ 9.79879603e-01 1.81564168e-01 -8.28879739e-02 1.70566935e+02] [ 8.44446177e-02 -8.46399247e-04 9.96427815e-01 2.67584051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65710568099996 meters Centerline goodness : 0.997527 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:170.62, Z:26.77 [[ 1.73001043e-01 -9.84789582e-01 -1.61281817e-02 2.42347223e+02] [ 9.81295693e-01 1.73744847e-01 -8.28944537e-02 1.70622330e+02] [ 8.44357829e-02 -1.48568830e-03 9.96427815e-01 2.67709088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71710568099996 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:170.68, Z:26.78 [[ 1.68947286e-01 -9.85493790e-01 -1.60874176e-02 2.42350530e+02] [ 9.82002249e-01 1.69702033e-01 -8.29023642e-02 1.70678770e+02] [ 8.44298326e-02 -1.79175086e-03 9.96427816e-01 2.67785950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77710568099997 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:170.74, Z:26.78 [[ 1.75902996e-01 -9.84276717e-01 -1.60462164e-02 2.42348194e+02] [ 9.80779211e-01 1.76629596e-01 -8.29103382e-02 1.70737428e+02] [ 8.44409522e-02 -1.15361856e-03 9.96427817e-01 2.67816496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83710568099997 meters Centerline goodness : 0.997549 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:170.80, Z:26.78 [[ 1.98745588e-01 -9.79920361e-01 -1.60086479e-02 2.42347841e+02] [ 9.76406323e-01 1.99387476e-01 -8.29175915e-02 1.70797122e+02] [ 8.44445602e-02 8.48560408e-04 9.96427818e-01 2.67827200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89710568099997 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:242.34, Y:170.86, Z:26.77 [[ 2.14657988e-01 -9.76558634e-01 -1.59744273e-02 2.42340437e+02] [ 9.73034140e-01 2.15239730e-01 -8.29241838e-02 1.70859101e+02] [ 8.44186591e-02 2.25667535e-03 9.96427818e-01 2.67723340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957105681 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:170.91, Z:26.79 [[ 2.31184521e-01 -9.72779311e-01 -1.59414124e-02 2.42353146e+02] [ 9.69245048e-01 2.31703614e-01 -8.29305302e-02 1.70913212e+02] [ 8.43667869e-02 3.72111990e-03 9.96427819e-01 2.67873285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017105681 meters Centerline goodness : 0.998289 with order 1 Centerline is valid? [True, True] Translation: X:242.36, Y:170.97, Z:26.78 [[ 2.21094047e-01 -9.75122781e-01 -1.59054829e-02 2.42358996e+02] [ 9.71593606e-01 2.21646675e-01 -8.29374207e-02 1.70972300e+02] [ 8.43995657e-02 2.88330447e-03 9.96427820e-01 2.67826786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077105681 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:171.03, Z:26.78 [[ 2.24687692e-01 -9.74301521e-01 -1.58741343e-02 2.42378569e+02] [ 9.70769927e-01 2.25224640e-01 -8.29434204e-02 1.71028002e+02] [ 8.43871468e-02 3.22623350e-03 9.96427820e-01 2.67802205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137105681 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:171.08, Z:26.79 [[ 2.15722267e-01 -9.76326252e-01 -1.58414925e-02 2.42399615e+02] [ 9.72799297e-01 2.16288885e-01 -8.29496543e-02 1.71080994e+02] [ 8.44122638e-02 2.48349471e-03 9.96427821e-01 2.67919300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197105681 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:171.14, Z:26.79 [[ 1.99379975e-01 -9.79794874e-01 -1.57997220e-02 2.42412577e+02] [ 9.76277252e-01 2.00001905e-01 -8.29576098e-02 1.71136928e+02] [ 8.44414153e-02 1.11517698e-03 9.96427822e-01 2.67902864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257105681 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:242.42, Y:171.19, Z:26.81 [[ 1.92173139e-01 -9.81234450e-01 -1.57619131e-02 2.42422753e+02] [ 9.77720908e-01 1.92817710e-01 -8.29647929e-02 1.71190987e+02] [ 8.44470889e-02 5.32852626e-04 9.96427822e-01 2.68059311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317105681 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:171.25, Z:26.81 [[ 1.86582170e-01 -9.82313517e-01 -1.57241035e-02 2.42432102e+02] [ 9.78803100e-01 1.87243546e-01 -8.29719583e-02 1.71245555e+02] [ 8.44487131e-02 9.02867682e-05 9.96427823e-01 2.68078490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377105681 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:171.30, Z:26.81 [[ 1.84146500e-01 -9.82773677e-01 -1.56833217e-02 2.42439847e+02] [ 9.79264255e-01 1.84813132e-01 -8.29796662e-02 1.71300048e+02] [ 8.44487155e-02 -7.77012344e-05 9.96427824e-01 2.68124219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437105681 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:171.36, Z:26.82 [[ 1.70313075e-01 -9.85265815e-01 -1.56438427e-02 2.42448606e+02] [ 9.81765434e-01 1.71025651e-01 -8.29871084e-02 1.71356196e+02] [ 8.44398594e-02 -1.22479431e-03 9.96427825e-01 2.68245053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:171.42, Z:26.82 [[ 1.45690607e-01 -9.89207178e-01 -1.56014640e-02 2.42448001e+02] [ 9.85724842e-01 1.46486700e-01 -8.29950749e-02 1.71415092e+02] [ 8.43847308e-02 -3.28714778e-03 9.96427826e-01 2.68244284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:171.47, Z:26.84 [[ 1.43597867e-01 -9.89513678e-01 -1.55670893e-02 2.42450591e+02] [ 9.86032371e-01 1.44398446e-01 -8.30015220e-02 1.71473127e+02] [ 8.43790048e-02 -3.43081245e-03 9.96427826e-01 2.68363092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:171.53, Z:26.82 [[ 1.34377621e-01 -9.90808445e-01 -1.55331905e-02 2.42446465e+02] [ 9.87334066e-01 1.35207750e-01 -8.30078655e-02 1.71533851e+02] [ 8.43451019e-02 -4.18204866e-03 9.96427827e-01 2.68226032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:171.59, Z:26.84 [[ 1.34628276e-01 -9.90775031e-01 -1.54940060e-02 2.42447565e+02] [ 9.87299664e-01 1.35454251e-01 -8.30151790e-02 1.71589995e+02] [ 8.43480955e-02 -4.12103642e-03 9.96427828e-01 2.68373182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:171.65, Z:26.84 [[ 1.33318481e-01 -9.90952743e-01 -1.54545707e-02 2.42440581e+02] [ 9.87477685e-01 1.34145753e-01 -8.30225199e-02 1.71649401e+02] [ 8.43445588e-02 -4.19260752e-03 9.96427829e-01 2.68424941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:171.71, Z:26.85 [[ 1.33209745e-01 -9.90967953e-01 -1.54168509e-02 2.42438558e+02] [ 9.87492237e-01 1.34034247e-01 -8.30295237e-02 1.71707765e+02] [ 8.43459832e-02 -4.16367886e-03 9.96427829e-01 2.68471034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:171.77, Z:26.85 [[ 1.28068451e-01 -9.91646067e-01 -1.53801981e-02 2.42428201e+02] [ 9.88173933e-01 1.28907908e-01 -8.30363127e-02 1.71768018e+02] [ 8.43252621e-02 -4.56397882e-03 9.96427830e-01 2.68523089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:171.83, Z:26.85 [[ 1.21268690e-01 -9.92501116e-01 -1.53440413e-02 2.42413520e+02] [ 9.89034069e-01 1.22128912e-01 -8.30429935e-02 1.71828536e+02] [ 8.42942148e-02 -5.10526456e-03 9.96427831e-01 2.68478955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:171.89, Z:26.86 [[ 1.38859935e-01 -9.90193575e-01 -1.53167360e-02 2.42406640e+02] [ 9.86711288e-01 1.39656218e-01 -8.30480296e-02 1.71888871e+02] [ 8.43727027e-02 -3.58115237e-03 9.96427831e-01 2.68555164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:171.95, Z:26.86 [[ 1.52710484e-01 -9.88152594e-01 -1.52957013e-02 2.42399560e+02] [ 9.84659122e-01 1.53456165e-01 -8.30519035e-02 1.71949380e+02] [ 8.44151736e-02 -2.37815546e-03 9.96427831e-01 2.68610722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:172.01, Z:26.87 [[ 1.60712308e-01 -9.86883269e-01 -1.52632634e-02 2.42391980e+02] [ 9.83383312e-01 1.61426929e-01 -8.30578646e-02 1.72009593e+02] [ 8.44323187e-02 -1.66121741e-03 9.96427832e-01 2.68667554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:172.07, Z:26.87 [[ 1.59655404e-01 -9.87055327e-01 -1.52293303e-02 2.42388548e+02] [ 9.83555553e-01 1.60370919e-01 -8.30640861e-02 1.72069126e+02] [ 8.44311904e-02 -1.71726216e-03 9.96427832e-01 2.68690853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:172.13, Z:26.87 [[ 1.63544989e-01 -9.86418822e-01 -1.51968341e-02 2.42388610e+02] [ 9.82915708e-01 1.64243967e-01 -8.30700310e-02 1.72127890e+02] [ 8.44378304e-02 -1.35151960e-03 9.96427833e-01 2.68739184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:172.19, Z:26.87 [[ 1.84855957e-01 -9.82648615e-01 -1.51649451e-02 2.42386515e+02] [ 9.79130717e-01 1.85476256e-01 -8.30758522e-02 1.72187957e+02] [ 8.44471083e-02 5.08602566e-04 9.96427833e-01 2.68731000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:172.25, Z:26.88 [[ 1.99661405e-01 -9.79748084e-01 -1.51332498e-02 2.42391632e+02] [ 9.76220797e-01 2.00225868e-01 -8.30816255e-02 1.72246116e+02] [ 8.44291315e-02 1.81480086e-03 9.96427834e-01 2.68775683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:172.30, Z:26.88 [[ 2.09948860e-01 -9.77595764e-01 -1.50996100e-02 2.42401244e+02] [ 9.74062315e-01 2.10473360e-01 -8.30877389e-02 1.72301994e+02] [ 8.44042873e-02 2.73621496e-03 9.96427835e-01 2.68847275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.42, Y:172.36, Z:26.89 [[ 2.06437654e-01 -9.78343560e-01 -1.50789039e-02 2.42419505e+02] [ 9.74811750e-01 2.06973080e-01 -8.30914965e-02 1.72356987e+02] [ 8.44129577e-02 2.45412095e-03 9.96427835e-01 2.68902587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:172.41, Z:26.90 [[ 2.02179752e-01 -9.79232860e-01 -1.50450411e-02 2.42440682e+02] [ 9.75702966e-01 2.02727665e-01 -8.30976276e-02 1.72411527e+02] [ 8.44219735e-02 2.12116657e-03 9.96427835e-01 2.69019374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:172.47, Z:26.90 [[ 2.09048606e-01 -9.77790041e-01 -1.50105555e-02 2.42460252e+02] [ 9.74255956e-01 2.09568799e-01 -8.31038565e-02 1.72466806e+02] [ 8.44038673e-02 2.74862225e-03 9.96427836e-01 2.69032588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.48, Y:172.52, Z:26.91 [[ 2.16040633e-01 -9.76269456e-01 -1.49798147e-02 2.42482534e+02] [ 9.72731375e-01 2.16532909e-01 -8.31093974e-02 1.72521862e+02] [ 8.43807890e-02 3.38367107e-03 9.96427836e-01 2.69094415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:242.50, Y:172.58, Z:26.91 [[ 2.21920262e-01 -9.74950238e-01 -1.49475766e-02 2.42503326e+02] [ 9.71408892e-01 2.22388464e-01 -8.31151952e-02 1.72577304e+02] [ 8.43573479e-02 3.92473708e-03 9.96427837e-01 2.69122941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:172.63, Z:26.91 [[ 2.22596647e-01 -9.74796572e-01 -1.49122471e-02 2.42524503e+02] [ 9.71254509e-01 2.23059387e-01 -8.31215334e-02 1.72631468e+02] [ 8.43529026e-02 4.01898739e-03 9.96427838e-01 2.69130268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:172.69, Z:26.91 [[ 2.19888772e-01 -9.75411505e-01 -1.48769621e-02 2.42547295e+02] [ 9.71870341e-01 2.20358346e-01 -8.31278483e-02 1.72685096e+02] [ 8.43621223e-02 3.82040225e-03 9.96427838e-01 2.69106879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:242.57, Y:172.74, Z:26.91 [[ 2.10764932e-01 -9.77424114e-01 -1.48406146e-02 2.42568246e+02] [ 9.73887056e-01 2.11264487e-01 -8.31343368e-02 1.72740104e+02] [ 8.43928004e-02 3.06872040e-03 9.96427839e-01 2.69105566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:172.79, Z:26.92 [[ 1.97119735e-01 -9.80267599e-01 -1.48068988e-02 2.42588741e+02] [ 9.76737406e-01 1.97665688e-01 -8.31403415e-02 1.72794836e+02] [ 8.44265988e-02 1.92615015e-03 9.96427840e-01 2.69225512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:172.85, Z:26.94 [[ 1.78615641e-01 -9.83808006e-01 -1.47736432e-02 2.42610601e+02] [ 9.80288238e-01 1.79225199e-01 -8.31462505e-02 1.72848635e+02] [ 8.44477560e-02 3.68792220e-04 9.96427840e-01 2.69370513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:172.90, Z:26.95 [[ 1.58908471e-01 -9.87183094e-01 -1.47525429e-02 2.42627498e+02] [ 9.83675874e-01 1.59586508e-01 -8.31499942e-02 1.72903854e+02] [ 8.44385753e-02 -1.29848211e-03 9.96427840e-01 2.69506619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:172.96, Z:26.96 [[ 1.57134448e-01 -9.87467551e-01 -1.47173985e-02 2.42638105e+02] [ 9.83960979e-01 1.57815827e-01 -8.31562143e-02 1.72961025e+02] [ 8.44367016e-02 -1.41464000e-03 9.96427841e-01 2.69573978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.65, Y:173.02, Z:26.96 [[ 1.59954980e-01 -9.87015116e-01 -1.46821355e-02 2.42645725e+02] [ 9.83506046e-01 1.60623368e-01 -8.31624399e-02 1.73019031e+02] [ 8.44408793e-02 -1.13772260e-03 9.96427842e-01 2.69581691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.65, Y:173.08, Z:26.97 [[ 1.58281703e-01 -9.87285353e-01 -1.46469728e-02 2.42648724e+02] [ 9.83776854e-01 1.58953077e-01 -8.31686325e-02 1.73075310e+02] [ 8.44393541e-02 -1.24528004e-03 9.96427842e-01 2.69713511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.13, Z:26.97 [[ 1.44030893e-01 -9.89465328e-01 -1.46105025e-02 2.42655249e+02] [ 9.85966243e-01 1.44749718e-01 -8.31750389e-02 1.73131321e+02] [ 8.44136833e-02 -2.42568715e-03 9.96427843e-01 2.69676216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.19, Z:26.96 [[ 1.35200577e-01 -9.90711097e-01 -1.45714525e-02 2.42657257e+02] [ 9.87217861e-01 1.35947306e-01 -8.31818796e-02 1.73189215e+02] [ 8.43901609e-02 -3.13896012e-03 9.96427844e-01 2.69610277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.25, Z:26.97 [[ 1.29916926e-01 -9.91418328e-01 -1.45358666e-02 2.42660326e+02] [ 9.87928471e-01 1.30679288e-01 -8.31880978e-02 1.73246469e+02] [ 8.43737415e-02 -3.55285458e-03 9.96427844e-01 2.69715701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.30, Z:26.98 [[ 1.30379698e-01 -9.91358029e-01 -1.45049462e-02 2.42662200e+02] [ 9.87867253e-01 1.31137840e-01 -8.31934888e-02 1.73303737e+02] [ 8.43766804e-02 -3.48221944e-03 9.96427845e-01 2.69788392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.36, Z:26.98 [[ 1.31473942e-01 -9.91214034e-01 -1.44686148e-02 2.42662706e+02] [ 9.87721769e-01 1.32225187e-01 -8.31998070e-02 1.73361365e+02] [ 8.43819317e-02 -3.35235921e-03 9.96427846e-01 2.69825989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.42, Z:26.98 [[ 1.36058766e-01 -9.90595626e-01 -1.44332477e-02 2.42658410e+02] [ 9.87099300e-01 1.36790877e-01 -8.32059420e-02 1.73419952e+02] [ 8.43977788e-02 -2.92615091e-03 9.96427846e-01 2.69848898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.48, Z:27.00 [[ 1.49534319e-01 -9.88651664e-01 -1.44004916e-02 2.42655467e+02] [ 9.85145158e-01 1.50216000e-01 -8.32116108e-02 1.73477256e+02] [ 8.44304817e-02 -1.74358307e-03 9.96427847e-01 2.69965436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.53, Z:27.00 [[ 1.55084039e-01 -9.87796825e-01 -1.43657310e-02 2.42662202e+02] [ 9.84285995e-01 1.55743090e-01 -8.32176115e-02 1.73534813e+02] [ 8.44394557e-02 -1.23426452e-03 9.96427847e-01 2.70036562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77710568099997 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:173.59, Z:27.00 [[ 1.73073702e-01 -9.84804587e-01 -1.43324620e-02 2.42661392e+02] [ 9.81281848e-01 1.73665801e-01 -8.32233410e-02 1.73593302e+02] [ 8.44477865e-02 3.39586903e-04 9.96427848e-01 2.70029336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83710568099997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:173.65, Z:27.00 [[ 1.80417330e-01 -9.83486220e-01 -1.42983146e-02 2.42669357e+02] [ 9.79958700e-01 1.80980237e-01 -8.32292074e-02 1.73650528e+02] [ 8.44424910e-02 1.00423362e-03 9.96427849e-01 2.70049281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89710568099997 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:173.71, Z:27.01 [[ 1.76788803e-01 -9.84145429e-01 -1.42650867e-02 2.42682094e+02] [ 9.80619552e-01 1.77361907e-01 -8.32349022e-02 1.73706780e+02] [ 8.44453315e-02 7.26375834e-04 9.96427849e-01 2.70091433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957105681 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:173.76, Z:27.01 [[ 1.72784093e-01 -9.84856906e-01 -1.42313969e-02 2.42694925e+02] [ 9.81332915e-01 1.73368687e-01 -8.32406621e-02 1.73762528e+02] [ 8.44474195e-02 4.16924115e-04 9.96427850e-01 2.70123981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017105681 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:242.71, Y:173.82, Z:27.03 [[ 1.70180749e-01 -9.85310595e-01 -1.41966534e-02 2.42711928e+02] [ 9.81787668e-01 1.70771719e-01 -8.32465872e-02 1.73817547e+02] [ 8.44481312e-02 2.28867353e-04 9.96427850e-01 2.70263001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077105681 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:173.87, Z:27.04 [[ 1.67091425e-01 -9.85839681e-01 -1.41625892e-02 2.42722631e+02] [ 9.82318135e-01 1.67690558e-01 -8.32523821e-02 1.73874182e+02] [ 8.44484343e-02 -1.40911846e-06 9.96427851e-01 2.70378824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:173.93, Z:27.03 [[ 1.72305319e-01 -9.84942258e-01 -1.41288805e-02 2.42738410e+02] [ 9.81417123e-01 1.72882961e-01 -8.32581025e-02 1.73931932e+02] [ 8.44470662e-02 4.79488597e-04 9.96427851e-01 2.70278545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197105681 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:173.99, Z:27.04 [[ 1.64413954e-01 -9.86290535e-01 -1.41078737e-02 2.42744254e+02] [ 9.82769834e-01 1.65018028e-01 -8.32616619e-02 1.73988252e+02] [ 8.44482426e-02 -1.75413614e-04 9.96427852e-01 2.70418665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257105681 meters Centerline goodness : 0.998446 with order 1 Centerline is valid? [True, True] Translation: X:242.75, Y:174.04, Z:27.04 [[ 1.66524031e-01 -9.85936967e-01 -1.40728212e-02 2.42751894e+02] [ 9.82414482e-01 1.67117610e-01 -8.32675861e-02 1.74044762e+02] [ 8.44484075e-02 4.07108238e-05 9.96427852e-01 2.70386075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317105681 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:174.10, Z:27.05 [[ 1.61574027e-01 -9.86760598e-01 -1.40483331e-02 2.42762100e+02] [ 9.83240778e-01 1.62183209e-01 -8.32717174e-02 1.74099950e+02] [ 8.44476534e-02 -3.58347237e-04 9.96427853e-01 2.70545908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377105681 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:242.77, Y:174.16, Z:27.06 [[ 1.56173469e-01 -9.87630198e-01 -1.40156930e-02 2.42773812e+02] [ 9.84113273e-01 1.56799146e-01 -8.32772108e-02 1.74155548e+02] [ 8.44447369e-02 -7.87338633e-04 9.96427853e-01 2.70600039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437105681 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:174.21, Z:27.07 [[ 1.61760119e-01 -9.86731068e-01 -1.39808071e-02 2.42782200e+02] [ 9.83210154e-01 1.62362939e-01 -8.32830672e-02 1.74211915e+02] [ 8.44479548e-02 -2.74192593e-04 9.96427854e-01 2.70671216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:174.27, Z:27.08 [[ 1.68667965e-01 -9.85574260e-01 -1.39461882e-02 2.42788529e+02] [ 9.82048731e-01 1.69243181e-01 -8.32888640e-02 1.74266487e+02] [ 8.44476577e-02 3.52326751e-04 9.96427854e-01 2.70795809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:242.80, Y:174.32, Z:27.09 [[ 1.74919375e-01 -9.84484491e-01 -1.39103975e-02 2.42796623e+02] [ 9.80954911e-01 1.75469178e-01 -8.32948411e-02 1.74322815e+02] [ 8.44433253e-02 9.24408844e-04 9.96427855e-01 2.70862011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:174.38, Z:27.09 [[ 1.83821889e-01 -9.82861612e-01 -1.38767897e-02 2.42807465e+02] [ 9.79326785e-01 1.84336879e-01 -8.33004398e-02 1.74379346e+02] [ 8.44308087e-02 1.72253238e-03 9.96427856e-01 2.70862795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:242.82, Y:174.43, Z:27.09 [[ 1.86300349e-01 -9.82395302e-01 -1.38438216e-02 2.42821160e+02] [ 9.78858789e-01 1.86803628e-01 -8.33059185e-02 1.74434259e+02] [ 8.44254191e-02 1.96877529e-03 9.96427856e-01 2.70924864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters Centerline goodness : 0.997925 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:174.49, Z:27.07 [[ 1.65927277e-01 -9.86041300e-01 -1.38091692e-02 2.42829480e+02] [ 9.82515485e-01 1.66500717e-01 -8.33116623e-02 1.74492129e+02] [ 8.44479764e-02 2.55954689e-04 9.96427857e-01 2.70748090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:242.86, Y:174.54, Z:27.10 [[ 1.59019070e-01 -9.87179423e-01 -1.37739941e-02 2.42863125e+02] [ 9.83657207e-01 1.59614215e-01 -8.33174775e-02 1.74543484e+02] [ 8.44478246e-02 -2.99820755e-04 9.96427857e-01 2.71026436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:242.88, Y:174.60, Z:27.11 [[ 1.45426815e-01 -9.89273556e-01 -1.37431049e-02 2.42877681e+02] [ 9.85759384e-01 1.46067746e-01 -8.33225724e-02 1.74598405e+02] [ 8.44362418e-02 -1.43005835e-03 9.96427858e-01 2.71095362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters Centerline goodness : 0.996220 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:174.65, Z:27.09 [[ 1.57648891e-01 -9.87400073e-01 -1.37085304e-02 2.42902839e+02] [ 9.83877750e-01 1.58243400e-01 -8.33282603e-02 1.74653505e+02] [ 8.44476148e-02 -3.50910224e-04 9.96427859e-01 2.70949785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97710568099995 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:174.71, Z:27.12 [[ 1.46009787e-01 -9.89188640e-01 -1.36739048e-02 2.42893450e+02] [ 9.85673038e-01 1.46642819e-01 -8.33339420e-02 1.74710676e+02] [ 8.44381687e-02 -1.31042810e-03 9.96427859e-01 2.71243744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03710568099996 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:174.77, Z:27.12 [[ 1.57161040e-01 -9.87478763e-01 -1.36418334e-02 2.42896658e+02] [ 9.83955788e-01 1.57751660e-01 -8.33391918e-02 1.74769175e+02] [ 8.44477039e-02 -3.25286927e-04 9.96427860e-01 2.71240024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09710568099996 meters Centerline goodness : 0.995599 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:174.83, Z:27.11 [[ 1.81615076e-01 -9.83275483e-01 -1.36120584e-02 2.42918194e+02] [ 9.79738580e-01 1.82115576e-01 -8.33440548e-02 1.74825597e+02] [ 8.44291336e-02 1.80027807e-03 9.96427860e-01 2.71123508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15710568099996 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:242.91, Y:174.88, Z:27.13 [[ 1.74532338e-01 -9.84557780e-01 -1.35809346e-02 2.42910918e+02] [ 9.81024180e-01 1.75055651e-01 -8.33491262e-02 1.74881981e+02] [ 8.44394499e-02 1.22389259e-03 9.96427861e-01 2.71334158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21710568099996 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:174.94, Z:27.13 [[ 1.80656922e-01 -9.83452909e-01 -1.35444647e-02 2.42922149e+02] [ 9.79915685e-01 1.81155141e-01 -8.33550523e-02 1.74938078e+02] [ 8.44294180e-02 1.78623370e-03 9.96427861e-01 2.71348656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27710568099997 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:174.99, Z:27.14 [[ 1.77605226e-01 -9.84009065e-01 -1.35108900e-02 2.42935737e+02] [ 9.80472996e-01 1.78111573e-01 -8.33604940e-02 1.74993300e+02] [ 8.44339276e-02 1.55819653e-03 9.96427862e-01 2.71372303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33710568099997 meters Centerline goodness : 0.995499 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:175.05, Z:27.13 [[ 1.60779686e-01 -9.86898290e-01 -1.34780738e-02 2.42939293e+02] [ 9.83370937e-01 1.61343557e-01 -8.33657996e-02 1.75052314e+02] [ 8.44481654e-02 1.49581031e-04 9.96427862e-01 2.71295845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39710568099997 meters Centerline goodness : 0.995187 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:175.11, Z:27.14 [[ 1.81138265e-01 -9.83365709e-01 -1.34466065e-02 2.42971124e+02] [ 9.79827090e-01 1.81626462e-01 -8.33708749e-02 1.75105260e+02] [ 8.44263191e-02 1.92630637e-03 9.96427863e-01 2.71388037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457105681 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:175.16, Z:27.16 [[ 1.69048000e-01 -9.85516535e-01 -1.34139039e-02 2.42967276e+02] [ 9.81983763e-01 1.69576851e-01 -8.33761363e-02 1.75161928e+02] [ 8.44432485e-02 9.22333219e-04 9.96427863e-01 2.71595569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517105681 meters Centerline goodness : 0.994913 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:175.22, Z:27.15 [[ 1.51297046e-01 -9.88397756e-01 -1.33820625e-02 2.42970740e+02] [ 9.84874617e-01 1.51886659e-01 -8.33812466e-02 1.75221278e+02] [ 8.44463938e-02 -5.64317337e-04 9.96427864e-01 2.71512126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577105681 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:175.27, Z:27.18 [[ 1.55804174e-01 -9.87697751e-01 -1.33495982e-02 2.42996076e+02] [ 9.84171515e-01 1.56374969e-01 -8.33864440e-02 1.75273452e+02] [ 8.44481462e-02 -1.46338257e-04 9.96427865e-01 2.71775178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637105681 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:175.33, Z:27.16 [[ 1.34837899e-01 -9.90778225e-01 -1.33135030e-02 2.42995285e+02] [ 9.87264321e-01 1.35480257e-01 -8.33922066e-02 1.75333770e+02] [ 8.44268993e-02 -1.89951661e-03 9.96427865e-01 2.71589775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697105681 meters Centerline goodness : 0.990233 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:175.39, Z:27.15 [[ 1.06158480e-01 -9.94260540e-01 -1.32798676e-02 2.42999465e+02] [ 9.90766063e-01 1.06899272e-01 -8.33975626e-02 1.75392323e+02] [ 8.43385139e-02 -4.30388363e-03 9.96427866e-01 2.71495235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757105681 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:175.44, Z:27.19 [[ 1.35771052e-01 -9.90651708e-01 -1.32444421e-02 2.43027254e+02] [ 9.87136150e-01 1.36404290e-01 -8.34031882e-02 1.75441886e+02] [ 8.44301096e-02 -1.75032897e-03 9.96427866e-01 2.71888578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817105681 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:175.50, Z:27.20 [[ 1.41765466e-01 -9.89812135e-01 -1.32094882e-02 2.43030569e+02] [ 9.86292298e-01 1.42374465e-01 -8.34087240e-02 1.75498885e+02] [ 8.44396610e-02 -1.20393992e-03 9.96427867e-01 2.71974523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877105681 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:175.56, Z:27.21 [[ 1.58763458e-01 -9.87228757e-01 -1.31736843e-02 2.43030144e+02] [ 9.83698501e-01 1.59308822e-01 -8.34143786e-02 1.75556757e+02] [ 8.44477574e-02 2.84221724e-04 9.96427868e-01 2.72050776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937105681 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:175.61, Z:27.19 [[ 1.99209275e-01 -9.79868896e-01 -1.31381749e-02 2.43047172e+02] [ 9.76318869e-01 1.99606050e-01 -8.34199711e-02 1.75614231e+02] [ 8.43630942e-02 3.79098395e-03 9.96427868e-01 2.71855393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:175.67, Z:27.22 [[ 1.88274431e-01 -9.82029052e-01 -1.31026369e-02 2.43041024e+02] [ 9.78483299e-01 1.88707738e-01 -8.34255527e-02 1.75670464e+02] [ 8.43988854e-02 2.88618716e-03 9.96427869e-01 2.72153761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:175.73, Z:27.21 [[ 1.87569235e-01 -9.82164450e-01 -1.30680685e-02 2.43054419e+02] [ 9.78618651e-01 1.88002155e-01 -8.34309673e-02 1.75727714e+02] [ 8.43997552e-02 2.86042720e-03 9.96427870e-01 2.72136153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:175.78, Z:27.22 [[ 1.87868764e-01 -9.82107601e-01 -1.30379441e-02 2.43069118e+02] [ 9.78561359e-01 1.88298047e-01 -8.34356747e-02 1.75784021e+02] [ 8.43978297e-02 2.91652880e-03 9.96427870e-01 2.72186935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:175.84, Z:27.22 [[ 1.86825154e-01 -9.82307056e-01 -1.30080605e-02 2.43087979e+02] [ 9.78760964e-01 1.87255669e-01 -8.34403335e-02 1.75838913e+02] [ 8.43998614e-02 2.85697128e-03 9.96427871e-01 2.72246676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:175.89, Z:27.23 [[ 1.86715958e-01 -9.82328283e-01 -1.29728446e-02 2.43105584e+02] [ 9.78781878e-01 1.87143879e-01 -8.34458084e-02 1.75892074e+02] [ 8.43989662e-02 2.88307881e-03 9.96427871e-01 2.72345124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:175.95, Z:27.22 [[ 2.02977527e-01 -9.79097940e-01 -1.29362684e-02 2.43136121e+02] [ 9.75544607e-01 2.03343480e-01 -8.34514783e-02 1.75947154e+02] [ 8.43376764e-02 4.31886780e-03 9.96427872e-01 2.72203579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:176.00, Z:27.25 [[ 1.75175441e-01 -9.84452656e-01 -1.29047362e-02 2.43143238e+02] [ 9.80910758e-01 1.75639180e-01 -8.34563541e-02 1.76002598e+02] [ 8.44254068e-02 1.96110905e-03 9.96427872e-01 2.72467292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:243.16, Y:176.06, Z:27.25 [[ 1.58749937e-01 -9.87234889e-01 -1.28736688e-02 2.43163418e+02] [ 9.83700821e-01 1.59269994e-01 -8.34611462e-02 1.76056527e+02] [ 8.44461446e-02 5.85613193e-04 9.96427873e-01 2.72472396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47710568099995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:176.11, Z:27.26 [[ 1.47878404e-01 -9.88922228e-01 -1.28375927e-02 2.43177001e+02] [ 9.85393616e-01 1.48434268e-01 -8.34666950e-02 1.76111132e+02] [ 8.44476087e-02 -3.07160273e-04 9.96427873e-01 2.72585316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53710568099996 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:176.17, Z:27.26 [[ 1.42184993e-01 -9.89757333e-01 -1.28003918e-02 2.43191999e+02] [ 9.86231467e-01 1.42758017e-01 -8.34723998e-02 1.76165895e+02] [ 8.44447783e-02 -7.55626576e-04 9.96427874e-01 2.72623439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59710568099996 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:176.22, Z:27.27 [[ 1.43467957e-01 -9.89572525e-01 -1.27735708e-02 2.43196569e+02] [ 9.86045556e-01 1.44034147e-01 -8.34765039e-02 1.76222986e+02] [ 8.44458851e-02 -6.19119258e-04 9.96427875e-01 2.72696168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65710568099996 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:176.28, Z:27.27 [[ 1.54014796e-01 -9.87986313e-01 -1.27471152e-02 2.43204890e+02] [ 9.84453172e-01 1.54541099e-01 -8.34805436e-02 1.76280148e+02] [ 8.44475876e-02 3.08300909e-04 9.96427875e-01 2.72691165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71710568099996 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:176.34, Z:27.28 [[ 1.59645691e-01 -9.87092573e-01 -1.27085055e-02 2.43212995e+02] [ 9.83556024e-01 1.60148575e-01 -8.34864209e-02 1.76336333e+02] [ 8.44440751e-02 8.28720174e-04 9.96427876e-01 2.72792680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77710568099997 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:243.22, Y:176.39, Z:27.28 [[ 1.60434311e-01 -9.86965163e-01 -1.26727598e-02 2.43218438e+02] [ 9.83427788e-01 1.60931346e-01 -8.34918466e-02 1.76392019e+02] [ 8.44429883e-02 9.32212749e-04 9.96427876e-01 2.72826687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83710568099997 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:176.45, Z:27.29 [[ 1.65199499e-01 -9.86179223e-01 -1.26359046e-02 2.43226350e+02] [ 9.82639067e-01 1.65676322e-01 -8.34974241e-02 1.76449538e+02] [ 8.44368950e-02 1.37719911e-03 9.96427877e-01 2.72876996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89710568099997 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:176.51, Z:27.29 [[ 1.74859505e-01 -9.84512747e-01 -1.26017807e-02 2.43236312e+02] [ 9.80967728e-01 1.75298708e-01 -8.35025740e-02 1.76505769e+02] [ 8.44184243e-02 2.23927853e-03 9.96427878e-01 2.72891444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:176.56, Z:27.30 [[ 1.83873924e-01 -9.82869508e-01 -1.25662249e-02 2.43250381e+02] [ 9.79320270e-01 1.84277606e-01 -8.35079244e-02 1.76562148e+02] [ 8.43930665e-02 3.04857096e-03 9.96427878e-01 2.72970916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:243.27, Y:176.62, Z:27.30 [[ 1.86674642e-01 -9.82341859e-01 -1.25319937e-02 2.43265853e+02] [ 9.78791164e-01 1.87065301e-01 -8.35130612e-02 1.76618714e+02] [ 8.43826770e-02 3.32356619e-03 9.96427879e-01 2.72959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077105681 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:243.29, Y:176.67, Z:27.30 [[ 1.86329253e-01 -9.82407862e-01 -1.24980848e-02 2.43285294e+02] [ 9.78856989e-01 1.86718282e-01 -8.35181356e-02 1.76674707e+02] [ 8.43824939e-02 3.32803414e-03 9.96427879e-01 2.73014394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137105681 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:176.73, Z:27.31 [[ 1.78496532e-01 -9.83861592e-01 -1.24641859e-02 2.43299224e+02] [ 9.80313594e-01 1.78910964e-01 -8.35231944e-02 1.76730838e+02] [ 8.44052425e-02 2.68978967e-03 9.96427880e-01 2.73055136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197105681 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:243.31, Y:176.79, Z:27.31 [[ 1.70339244e-01 -9.85307069e-01 -1.24306792e-02 2.43313561e+02] [ 9.81762273e-01 1.70780217e-01 -8.35281809e-02 1.76786479e+02] [ 8.44238212e-02 2.02415531e-03 9.96427881e-01 2.73147100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257105681 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:176.84, Z:27.32 [[ 1.62961014e-01 -9.86554627e-01 -1.23965970e-02 2.43321581e+02] [ 9.83012851e-01 1.63425617e-01 -8.35332389e-02 1.76843892e+02] [ 8.44360248e-02 1.42664717e-03 9.96427881e-01 2.73178964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317105681 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:176.90, Z:27.32 [[ 1.59998149e-01 -9.87039893e-01 -1.23629282e-02 2.43328808e+02] [ 9.83499147e-01 1.60470536e-01 -8.35382216e-02 1.76901695e+02] [ 8.44394430e-02 1.20703145e-03 9.96427882e-01 2.73209401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377105681 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:176.96, Z:27.32 [[ 1.45643705e-01 -9.89260285e-01 -1.23287994e-02 2.43331029e+02] [ 9.85726350e-01 1.46164592e-01 -8.35432582e-02 1.76960751e+02] [ 8.44480613e-02 1.47272205e-05 9.96427882e-01 2.73168279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437105681 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:177.02, Z:27.32 [[ 1.69727297e-01 -9.85414375e-01 -1.22945232e-02 2.43352578e+02] [ 9.81868432e-01 1.70158936e-01 -8.35483021e-02 1.77015799e+02] [ 8.44217208e-02 2.10882327e-03 9.96427883e-01 2.73150566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:177.07, Z:27.34 [[ 1.53775663e-01 -9.88029762e-01 -1.22570659e-02 2.43352331e+02] [ 9.84490825e-01 1.54261399e-01 -8.35537970e-02 1.77072212e+02] [ 8.44444303e-02 7.81571562e-04 9.96427884e-01 2.73444855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:243.36, Y:177.13, Z:27.35 [[ 1.58779808e-01 -9.87238370e-01 -1.22218720e-02 2.43359204e+02] [ 9.83696625e-01 1.59244629e-01 -8.35589448e-02 1.77129769e+02] [ 8.44388639e-02 1.24485897e-03 9.96427884e-01 2.73522149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:243.36, Y:177.19, Z:27.35 [[ 1.71435686e-01 -9.85119935e-01 -1.21868752e-02 2.43362164e+02] [ 9.81572168e-01 1.71852053e-01 -8.35640487e-02 1.77186566e+02] [ 8.44149497e-02 2.36356253e-03 9.96427885e-01 2.73508232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:177.24, Z:27.35 [[ 1.83056092e-01 -9.83027458e-01 -1.21443324e-02 2.43366922e+02] [ 9.79474644e-01 1.83426927e-01 -8.35702311e-02 1.77244599e+02] [ 8.43794293e-02 3.40297421e-03 9.96427886e-01 2.73461471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:177.30, Z:27.34 [[ 1.77999185e-01 -9.83956225e-01 -1.21011541e-02 2.43366219e+02] [ 9.80404967e-01 1.78384619e-01 -8.35764830e-02 1.77303049e+02] [ 8.43942605e-02 3.01251428e-03 9.96427887e-01 2.73436974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:243.38, Y:177.36, Z:27.33 [[ 1.72281068e-01 -9.84974022e-01 -1.20585890e-02 2.43375205e+02] [ 9.81424653e-01 1.72683514e-01 -8.35826240e-02 1.77359851e+02] [ 8.44090329e-02 2.56510723e-03 9.96427888e-01 2.73317003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:177.41, Z:27.36 [[ 1.89866214e-01 -9.81736501e-01 -1.20109842e-02 2.43409592e+02] [ 9.78180121e-01 1.90201085e-01 -8.35894644e-02 1.77410388e+02] [ 8.43473306e-02 4.12190909e-03 9.96427889e-01 2.73607823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:177.47, Z:27.37 [[ 1.82871459e-01 -9.83063830e-01 -1.19806423e-02 2.43428330e+02] [ 9.79509665e-01 1.83229068e-01 -8.35938131e-02 1.77465538e+02] [ 8.43732560e-02 3.55176759e-03 9.96427889e-01 2.73705882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97710568099995 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:177.52, Z:27.38 [[ 1.72945829e-01 -9.84858854e-01 -1.19489650e-02 2.43442646e+02] [ 9.81308181e-01 1.73336585e-01 -8.35983409e-02 1.77520154e+02] [ 8.44037590e-02 2.73236721e-03 9.96427890e-01 2.73785529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03710568099996 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:177.57, Z:27.39 [[ 1.64047741e-01 -9.86380469e-01 -1.19125925e-02 2.43459295e+02] [ 9.82833102e-01 1.64467454e-01 -8.36035236e-02 1.77572752e+02] [ 8.44241165e-02 2.00687895e-03 9.96427891e-01 2.73892597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09710568099996 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:243.47, Y:177.63, Z:27.39 [[ 1.65288131e-01 -9.86173894e-01 -1.18694416e-02 2.43471981e+02] [ 9.82625578e-01 1.65699727e-01 -8.36096495e-02 1.77628517e+02] [ 8.44204169e-02 2.15646573e-03 9.96427891e-01 2.73916887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15710568099996 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:177.69, Z:27.40 [[ 1.69991089e-01 -9.85374621e-01 -1.18273291e-02 2.43483932e+02] [ 9.81823988e-01 1.70382182e-01 -8.36156063e-02 1.77685492e+02] [ 8.44078626e-02 2.60155256e-03 9.96427892e-01 2.73950536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21710568099996 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:177.74, Z:27.39 [[ 1.82815182e-01 -9.83076558e-01 -1.17936918e-02 2.43498458e+02] [ 9.79520855e-01 1.83157125e-01 -8.36203505e-02 1.77741197e+02] [ 8.43653050e-02 3.73490257e-03 9.96427893e-01 2.73864231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27710568099997 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:177.80, Z:27.38 [[ 1.75962335e-01 -9.84326615e-01 -1.17631919e-02 2.43502300e+02] [ 9.80773114e-01 1.76326452e-01 -8.36246409e-02 1.77798984e+02] [ 8.43881216e-02 3.17776474e-03 9.96427893e-01 2.73848111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33710568099997 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:177.85, Z:27.40 [[ 1.85607980e-01 -9.82553884e-01 -1.17278415e-02 2.43521184e+02] [ 9.78996708e-01 1.85934226e-01 -8.36295983e-02 1.77853433e+02] [ 8.43511938e-02 4.04080256e-03 9.96427894e-01 2.74033294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39710568099997 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:177.91, Z:27.41 [[ 1.81551426e-01 -9.83311904e-01 -1.16952808e-02 2.43533404e+02] [ 9.79755841e-01 1.81889586e-01 -8.36341516e-02 1.77910013e+02] [ 8.43657066e-02 3.72537980e-03 9.96427895e-01 2.74096706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457105681 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:177.97, Z:27.41 [[ 1.71457619e-01 -9.85122465e-01 -1.16625364e-02 2.43546827e+02] [ 9.81569765e-01 1.71829453e-01 -8.36387175e-02 1.77966986e+02] [ 8.43983468e-02 2.89290227e-03 9.96427895e-01 2.74119659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:178.02, Z:27.42 [[ 1.63183220e-01 -9.86527232e-01 -1.16300595e-02 2.43560058e+02] [ 9.82977468e-01 1.63582108e-01 -8.36432333e-02 1.78022688e+02] [ 8.44187970e-02 2.21708570e-03 9.96427896e-01 2.74161431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577105681 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:243.57, Y:178.08, Z:27.42 [[ 1.55360798e-01 -9.87789762e-01 -1.15934780e-02 2.43567475e+02] [ 9.84242900e-01 1.55784705e-01 -8.36483035e-02 1.78078073e+02] [ 8.44330243e-02 1.58486876e-03 9.96427896e-01 2.74174720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637105681 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:243.57, Y:178.13, Z:27.42 [[ 1.47885216e-01 -9.88937019e-01 -1.15557809e-02 2.43573898e+02] [ 9.85393061e-01 1.48332749e-01 -8.36535109e-02 1.78134759e+02] [ 8.44421545e-02 9.84131197e-04 9.96427897e-01 2.74213136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697105681 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:178.19, Z:27.43 [[ 1.37499345e-01 -9.90434859e-01 -1.15204246e-02 2.43586476e+02] [ 9.86895386e-01 1.37981058e-01 -8.36583798e-02 1.78190905e+02] [ 8.44477760e-02 1.33518608e-04 9.96427898e-01 2.74302666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757105681 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:178.25, Z:27.44 [[ 1.22154579e-01 -9.92444635e-01 -1.14849820e-02 2.43588571e+02] [ 9.88912590e-01 1.22688025e-01 -8.36632453e-02 1.78246877e+02] [ 8.44402087e-02 -1.13779483e-03 9.96427898e-01 2.74404536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817105681 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:178.30, Z:27.45 [[ 1.14594419e-01 -9.93346453e-01 -1.14430738e-02 2.43590656e+02] [ 9.89818014e-01 1.15151215e-01 -8.36689770e-02 1.78303892e+02] [ 8.44299654e-02 -1.73856273e-03 9.96427899e-01 2.74457656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877105681 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:178.36, Z:27.45 [[ 1.09860147e-01 -9.93881634e-01 -1.14037301e-02 2.43583961e+02] [ 9.90355352e-01 1.10430438e-01 -8.36743391e-02 1.78363264e+02] [ 8.44217078e-02 -2.10126988e-03 9.96427900e-01 2.74450558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937105681 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:178.42, Z:27.45 [[ 1.30453670e-01 -9.91389254e-01 -1.13660766e-02 2.43599627e+02] [ 9.87851456e-01 1.30947510e-01 -8.36794536e-02 1.78419004e+02] [ 8.44472705e-02 -3.11703553e-04 9.96427901e-01 2.74485143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:178.48, Z:27.46 [[ 1.16470516e-01 -9.93129541e-01 -1.13284811e-02 2.43576694e+02] [ 9.89598567e-01 1.17010994e-01 -8.36845430e-02 1.78479002e+02] [ 8.44351486e-02 -1.46386669e-03 9.96427901e-01 2.74617203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:178.54, Z:27.44 [[ 1.05749691e-01 -9.94328713e-01 -1.12877201e-02 2.43561692e+02] [ 9.90803216e-01 1.06324802e-01 -8.36900407e-02 1.78540367e+02] [ 8.44155751e-02 -2.33371346e-03 9.96427902e-01 2.74404989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:178.60, Z:27.46 [[ 1.20485612e-01 -9.92651342e-01 -1.12485847e-02 2.43557275e+02] [ 9.89117217e-01 1.21005072e-01 -8.36953006e-02 1.78596297e+02] [ 8.44413882e-02 -1.04208934e-03 9.96427903e-01 2.74639458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:178.65, Z:27.47 [[ 1.23916231e-01 -9.92229382e-01 -1.12081187e-02 2.43553515e+02] [ 9.88692995e-01 1.24420058e-01 -8.37007193e-02 1.78653923e+02] [ 8.44448278e-02 -7.09510745e-04 9.96427904e-01 2.74715451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:178.71, Z:27.48 [[ 1.31821354e-01 -9.91210541e-01 -1.11711013e-02 2.43552198e+02] [ 9.87669833e-01 1.32293851e-01 -8.37056596e-02 1.78710842e+02] [ 8.44478002e-02 8.33605860e-07 9.96427905e-01 2.74807551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:178.77, Z:27.48 [[ 1.47557565e-01 -9.88990769e-01 -1.11366299e-02 2.43548593e+02] [ 9.85442658e-01 1.47970814e-01 -8.37102457e-02 1.78769899e+02] [ 8.44365564e-02 1.37756983e-03 9.96427905e-01 2.74840723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:243.57, Y:178.83, Z:27.48 [[ 1.71913920e-01 -9.85049391e-01 -1.11041064e-02 2.43568812e+02] [ 9.81491914e-01 1.72236742e-01 -8.37145597e-02 1.78826858e+02] [ 8.43755112e-02 3.49310752e-03 9.96427906e-01 2.74751046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:178.89, Z:27.50 [[ 1.59691034e-01 -9.87104962e-01 -1.10709936e-02 2.43556014e+02] [ 9.83551472e-01 1.60055121e-01 -8.37189386e-02 1.78885108e+02] [ 8.44113490e-02 2.48027184e-03 9.96427906e-01 2.75003687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47710568099995 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:178.94, Z:27.49 [[ 1.52748080e-01 -9.88203573e-01 -1.10327802e-02 2.43559610e+02] [ 9.84652377e-01 1.53133901e-01 -8.37239743e-02 1.78944072e+02] [ 8.44258232e-02 1.92522306e-03 9.96427907e-01 2.74922262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53710568099996 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:179.00, Z:27.48 [[ 1.64899869e-01 -9.86248971e-01 -1.10000171e-02 2.43576134e+02] [ 9.82693030e-01 1.65239173e-01 -8.37282786e-02 1.79001585e+02] [ 8.43945624e-02 2.99714204e-03 9.96427908e-01 2.74840727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59710568099996 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:179.06, Z:27.49 [[ 1.53670655e-01 -9.88061259e-01 -1.09671338e-02 2.43582831e+02] [ 9.84509112e-01 1.54047601e-01 -8.37325857e-02 1.79058492e+02] [ 8.44223847e-02 2.06999809e-03 9.96427908e-01 2.74887757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65710568099996 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:179.11, Z:27.49 [[ 1.41528783e-01 -9.89873764e-01 -1.09332260e-02 2.43598853e+02] [ 9.86326173e-01 1.41946442e-01 -8.37370130e-02 1.79114325e+02] [ 8.44410047e-02 1.06747058e-03 9.96427909e-01 2.74891558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71710568099996 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:179.17, Z:27.52 [[ 1.48852766e-01 -9.88799327e-01 -1.08970056e-02 2.43623360e+02] [ 9.85248406e-01 1.49241085e-01 -8.37417262e-02 1.79165700e+02] [ 8.44300435e-02 1.72893018e-03 9.96427909e-01 2.75205001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77710568099997 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:179.22, Z:27.52 [[ 1.42602581e-01 -9.89720451e-01 -1.08596971e-02 2.43640837e+02] [ 9.86171691e-01 1.43010171e-01 -8.37465642e-02 1.79221480e+02] [ 8.44387344e-02 1.23295037e-03 9.96427910e-01 2.75237053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83710568099997 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:243.65, Y:179.28, Z:27.52 [[ 1.38591131e-01 -9.90290530e-01 -1.08243016e-02 2.43648283e+02] [ 9.86743096e-01 1.39010104e-01 -8.37511389e-02 1.79277889e+02] [ 8.44426470e-02 9.26360155e-04 9.96427911e-01 2.75244980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89710568099997 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:179.33, Z:27.53 [[ 1.32965655e-01 -9.91061916e-01 -1.07894767e-02 2.43657958e+02] [ 9.87516556e-01 1.33401822e-01 -8.37556251e-02 1.79333621e+02] [ 8.44463462e-02 4.81834687e-04 9.96427911e-01 2.75261282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957105681 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:179.39, Z:27.53 [[ 1.38230733e-01 -9.90341673e-01 -1.07534113e-02 2.43669033e+02] [ 9.86793688e-01 1.38645002e-01 -8.37602554e-02 1.79390690e+02] [ 8.44421782e-02 9.66843139e-04 9.96427912e-01 2.75306284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:179.45, Z:27.54 [[ 1.49684862e-01 -9.88675632e-01 -1.07208873e-02 2.43678234e+02] [ 9.85122802e-01 1.50055281e-01 -8.37644181e-02 1.79445877e+02] [ 8.44245648e-02 1.97687480e-03 9.96427913e-01 2.75362830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077105681 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:179.50, Z:27.55 [[ 1.47718974e-01 -9.88971677e-01 -1.06830559e-02 2.43678513e+02] [ 9.85419252e-01 1.48093252e-01 -8.37692428e-02 1.79502535e+02] [ 8.44274970e-02 1.84701761e-03 9.96427913e-01 2.75539344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137105681 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:243.69, Y:179.56, Z:27.56 [[ 1.48526073e-01 -9.88851167e-01 -1.06477770e-02 2.43687038e+02] [ 9.85298128e-01 1.48894466e-01 -8.37737269e-02 1.79558864e+02] [ 8.44251426e-02 1.95134799e-03 9.96427914e-01 2.75597751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197105681 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:243.71, Y:179.62, Z:27.55 [[ 1.68193684e-01 -9.85696836e-01 -1.06128571e-02 2.43707050e+02] [ 9.82136918e-01 1.68488268e-01 -8.37781505e-02 1.79616731e+02] [ 8.43679998e-02 3.66767704e-03 9.96427915e-01 2.75469222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257105681 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:179.67, Z:27.56 [[ 1.58873511e-01 -9.87242243e-01 -1.05812123e-02 2.43704284e+02] [ 9.83685021e-01 1.59199032e-01 -8.37821471e-02 1.79673344e+02] [ 8.43977936e-02 2.90218384e-03 9.96427915e-01 2.75632309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317105681 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:179.73, Z:27.57 [[ 1.62137817e-01 -9.86711766e-01 -1.05460863e-02 2.43717130e+02] [ 9.83153226e-01 1.62448593e-01 -8.37865684e-02 1.79729816e+02] [ 8.43863898e-02 3.21655254e-03 9.96427916e-01 2.75685662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377105681 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:243.73, Y:179.79, Z:27.57 [[ 1.60468191e-01 -9.86985027e-01 -1.05126656e-02 2.43730416e+02] [ 9.83426768e-01 1.60782154e-01 -8.37907615e-02 1.79785260e+02] [ 8.43904761e-02 3.10731515e-03 9.96427916e-01 2.75713096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437105681 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:179.84, Z:27.56 [[ 1.50972936e-01 -9.88482432e-01 -1.04715644e-02 2.43740863e+02] [ 9.84927017e-01 1.51317609e-01 -8.37958978e-02 1.79843177e+02] [ 8.44153050e-02 2.33718599e-03 9.96427917e-01 2.75561121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:243.75, Y:179.90, Z:27.57 [[ 1.41312056e-01 -9.89910169e-01 -1.04288121e-02 2.43754552e+02] [ 9.86357906e-01 1.41687817e-01 -8.38012183e-02 1.79898935e+02] [ 8.44333138e-02 1.55558126e-03 9.96427918e-01 2.75672142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:179.95, Z:27.59 [[ 1.50860152e-01 -9.88500506e-01 -1.03906110e-02 2.43783177e+02] [ 9.84944473e-01 1.51198373e-01 -8.38059547e-02 1.79950202e+02] [ 8.44132721e-02 2.40880424e-03 9.96427919e-01 2.75867694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:180.00, Z:27.59 [[ 1.49837027e-01 -9.88656584e-01 -1.03452211e-02 2.43809057e+02] [ 9.85100537e-01 1.50175083e-01 -8.38115575e-02 1.80004355e+02] [ 8.44144426e-02 2.36699171e-03 9.96427920e-01 2.75880495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:180.06, Z:27.60 [[ 1.27865673e-01 -9.91737949e-01 -1.03058739e-02 2.43814873e+02] [ 9.88189888e-01 1.28279216e-01 -8.38163956e-02 1.80060016e+02] [ 8.44459296e-02 5.33079434e-04 9.96427921e-01 2.76001846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:180.12, Z:27.61 [[ 1.22386758e-01 -9.92429407e-01 -1.02642076e-02 2.43821909e+02] [ 9.88883257e-01 1.22816369e-01 -8.38214978e-02 1.80116246e+02] [ 8.44475321e-02 1.08538241e-04 9.96427921e-01 2.76059364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:243.83, Y:180.17, Z:27.61 [[ 1.30766681e-01 -9.91360407e-01 -1.02283189e-02 2.43829341e+02] [ 9.87810415e-01 1.31163285e-01 -8.38258770e-02 1.80172018e+02] [ 8.44432354e-02 8.57991794e-04 9.96427922e-01 2.76124380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:180.23, Z:27.61 [[ 1.43521044e-01 -9.89594792e-01 -1.01911060e-02 2.43836633e+02] [ 9.86039678e-01 1.43868752e-01 -8.38304009e-02 1.80230178e+02] [ 8.44243098e-02 1.98259179e-03 9.96427923e-01 2.76132092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:180.29, Z:27.62 [[ 1.52018901e-01 -9.88325387e-01 -1.01579025e-02 2.43843976e+02] [ 9.84767168e-01 1.52333236e-01 -8.38344241e-02 1.80286115e+02] [ 8.44030758e-02 2.74124810e-03 9.96427923e-01 2.76191341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97710568099995 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:180.34, Z:27.63 [[ 1.48323033e-01 -9.88887041e-01 -1.01340281e-02 2.43853525e+02] [ 9.85329836e-01 1.48648646e-01 -8.38373100e-02 1.80341060e+02] [ 8.44120390e-02 2.44964390e-03 9.96427924e-01 2.76335182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03710568099996 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:180.40, Z:27.64 [[ 1.39783019e-01 -9.90130658e-01 -1.00988827e-02 2.43860599e+02] [ 9.86576100e-01 1.40136345e-01 -8.38415434e-02 1.80397483e+02] [ 8.44293031e-02 1.75630771e-03 9.96427924e-01 2.76362906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09710568099996 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:180.45, Z:27.64 [[ 1.34424573e-01 -9.90872781e-01 -1.00581347e-02 2.43866475e+02] [ 9.87319827e-01 1.34793676e-01 -8.38464316e-02 1.80453641e+02] [ 8.44369198e-02 1.34042496e-03 9.96427925e-01 2.76362973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15710568099996 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:180.51, Z:27.64 [[ 1.32137560e-01 -9.91180818e-01 -1.00125641e-02 2.43871096e+02] [ 9.87628319e-01 1.32511007e-01 -8.38518731e-02 1.80510243e+02] [ 8.44391432e-02 1.19129006e-03 9.96427926e-01 2.76391891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21710568099996 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:180.57, Z:27.64 [[ 1.23473194e-01 -9.92297784e-01 -9.97386582e-03 2.43873802e+02] [ 9.88748313e-01 1.23874393e-01 -8.38564760e-02 1.80566660e+02] [ 8.44461019e-02 4.92383921e-04 9.96427927e-01 2.76385260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27710568099997 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:180.62, Z:27.64 [[ 1.10166190e-01 -9.93863520e-01 -9.93554143e-03 2.43880922e+02] [ 9.90319336e-01 1.10611679e-01 -8.38610166e-02 1.80623576e+02] [ 8.44453920e-02 -6.00710142e-04 9.96427928e-01 2.76434248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33710568099997 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:180.68, Z:27.65 [[ 1.04206954e-01 -9.94506328e-01 -9.90322396e-03 2.43889562e+02] [ 9.90964521e-01 1.04670955e-01 -8.38648328e-02 1.80679836e+02] [ 8.44406869e-02 -1.07444478e-03 9.96427928e-01 2.76491596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39710568099997 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:180.74, Z:27.65 [[ 9.94961543e-02 -9.94989044e-01 -9.86501906e-03 2.43886955e+02] [ 9.91449038e-01 9.99737028e-02 -8.38693267e-02 1.80736274e+02] [ 8.44353036e-02 -1.43598819e-03 9.96427929e-01 2.76539396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457105681 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:180.79, Z:27.66 [[ 1.03614460e-01 -9.94569021e-01 -9.82376026e-03 2.43882289e+02] [ 9.91026617e-01 1.04073870e-01 -8.38741592e-02 1.80794852e+02] [ 8.44410372e-02 -1.04503217e-03 9.96427930e-01 2.76574002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:180.85, Z:27.67 [[ 1.18482908e-01 -9.92907851e-01 -9.78774447e-03 2.43882698e+02] [ 9.89358623e-01 1.18886226e-01 -8.38783619e-02 1.80850839e+02] [ 8.44471121e-02 2.54562889e-04 9.96427930e-01 2.76673297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577105681 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:180.91, Z:27.68 [[ 1.28416039e-01 -9.91672456e-01 -9.74988380e-03 2.43872703e+02] [ 9.88119040e-01 1.28780606e-01 -8.38827626e-02 1.80906871e+02] [ 8.44398212e-02 1.13784628e-03 9.96427931e-01 2.76802272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637105681 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:180.96, Z:27.68 [[ 1.32606894e-01 -9.91121196e-01 -9.70499367e-03 2.43864045e+02] [ 9.87565900e-01 1.32952639e-01 -8.38879561e-02 1.80963546e+02] [ 8.44334358e-02 1.53980047e-03 9.96427932e-01 2.76786847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697105681 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:181.02, Z:27.68 [[ 1.30180006e-01 -9.91443314e-01 -9.66023757e-03 2.43860005e+02] [ 9.87888501e-01 1.30530669e-01 -8.38931098e-02 1.81020096e+02] [ 8.44362201e-02 1.37796795e-03 9.96427933e-01 2.76751268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757105681 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:181.07, Z:27.67 [[ 1.46194344e-01 -9.89209038e-01 -9.62776546e-03 2.43881102e+02] [ 9.85648794e-01 1.46484729e-01 -8.38968362e-02 1.81074675e+02] [ 8.44018292e-02 2.77564751e-03 9.96427934e-01 2.76722173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817105681 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:181.13, Z:27.69 [[ 1.31303397e-01 -9.91295845e-01 -9.58985091e-03 2.43874651e+02] [ 9.87740062e-01 1.31644076e-01 -8.39011699e-02 1.81130141e+02] [ 8.44333282e-02 1.54422872e-03 9.96427934e-01 2.76882045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877105681 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:181.19, Z:27.69 [[ 1.32765304e-01 -9.91101514e-01 -9.54792572e-03 2.43887568e+02] [ 9.87544901e-01 1.33097190e-01 -8.39059408e-02 1.81186064e+02] [ 8.44301070e-02 1.71079237e-03 9.96427935e-01 2.76925423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937105681 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:181.24, Z:27.69 [[ 1.32482182e-01 -9.91139806e-01 -9.50555656e-03 2.43891127e+02] [ 9.87582955e-01 1.32811499e-01 -8.39107405e-02 1.81242054e+02] [ 8.44297223e-02 1.72915235e-03 9.96427936e-01 2.76946566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:181.30, Z:27.68 [[ 1.54499723e-01 -9.87947498e-01 -9.46455019e-03 2.43922196e+02] [ 9.84383959e-01 1.54746350e-01 -8.39153656e-02 1.81297176e+02] [ 8.43685800e-02 3.64814931e-03 9.96427937e-01 2.76838085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:181.35, Z:27.72 [[ 1.22206860e-01 -9.92459789e-01 -9.43664071e-03 2.43909975e+02] [ 9.88905946e-01 1.22567182e-01 -8.39185040e-02 1.81354193e+02] [ 8.44423633e-02 9.23466779e-04 9.96427937e-01 2.77184518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:181.41, Z:27.71 [[ 1.15151762e-01 -9.93303449e-01 -9.39836691e-03 2.43920082e+02] [ 9.89751908e-01 1.15534094e-01 -8.39227903e-02 1.81410352e+02] [ 8.44466289e-02 3.61805641e-04 9.96427938e-01 2.77124328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:181.47, Z:27.72 [[ 1.12613676e-01 -9.93594703e-01 -9.36623468e-03 2.43927241e+02] [ 9.90043852e-01 1.13002366e-01 -8.39263763e-02 1.81466539e+02] [ 8.44472096e-02 1.78274726e-04 9.96427939e-01 2.77179139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:181.52, Z:27.71 [[ 1.21094619e-01 -9.92597115e-01 -9.33059741e-03 2.43940873e+02] [ 9.89042773e-01 1.21449958e-01 -8.39303382e-02 1.81523934e+02] [ 8.44422122e-02 9.35152424e-04 9.96427939e-01 2.77054455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:181.58, Z:27.70 [[ 1.18279228e-01 -9.92936831e-01 -9.29916300e-03 2.43947025e+02] [ 9.89383238e-01 1.18641988e-01 -8.39338209e-02 1.81582125e+02] [ 8.44442533e-02 7.27191518e-04 9.96427940e-01 2.77024275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:181.64, Z:27.72 [[ 1.07738787e-01 -9.94136059e-01 -9.26557372e-03 2.43949032e+02] [ 9.90586196e-01 1.08136390e-01 -8.39375288e-02 1.81637836e+02] [ 8.44472697e-02 -1.35021910e-04 9.96427940e-01 2.77156911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41710568099995 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:181.69, Z:27.74 [[ 9.84783192e-02 -9.95096401e-01 -9.22898602e-03 2.43942355e+02] [ 9.91550021e-01 9.89058697e-02 -8.39415515e-02 1.81694122e+02] [ 8.44427366e-02 -8.84578386e-04 9.96427941e-01 2.77427847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:181.75, Z:27.74 [[ 1.21626772e-01 -9.92533339e-01 -9.19237911e-03 2.43938691e+02] [ 9.88977666e-01 1.21968518e-01 -8.39455601e-02 1.81752765e+02] [ 8.44399479e-02 1.11896987e-03 9.96427942e-01 2.77364200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53710568099996 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:181.81, Z:27.76 [[ 1.17882493e-01 -9.92985397e-01 -9.14980821e-03 2.43922804e+02] [ 9.89430682e-01 1.18234048e-01 -8.39502000e-02 1.81809814e+02] [ 8.44431416e-02 8.43157887e-04 9.96427943e-01 2.77572188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59710568099996 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:181.87, Z:27.76 [[ 1.30946233e-01 -9.91347573e-01 -9.11446675e-03 2.43919802e+02] [ 9.87788283e-01 1.31247964e-01 -8.39540369e-02 1.81867644e+02] [ 8.44238860e-02 1.99030141e-03 9.96427943e-01 2.77588307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65710568099996 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:181.93, Z:27.76 [[ 1.36277769e-01 -9.90629073e-01 -9.07801947e-03 2.43922878e+02] [ 9.87067968e-01 1.36557261e-01 -8.39579779e-02 1.81925342e+02] [ 8.44108832e-02 2.48098367e-03 9.96427944e-01 2.77568985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71710568099996 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:181.98, Z:27.76 [[ 1.34164514e-01 -9.90917822e-01 -9.04172996e-03 2.43931110e+02] [ 9.87357076e-01 1.34448528e-01 -8.39618859e-02 1.81980956e+02] [ 8.44149764e-02 2.33728957e-03 9.96427945e-01 2.77613132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77710568099997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:182.04, Z:27.77 [[ 1.29709310e-01 -9.91511179e-01 -9.00427048e-03 2.43941552e+02] [ 9.87951480e-01 1.30006156e-01 -8.39659030e-02 1.82037181e+02] [ 8.44237421e-02 1.99537703e-03 9.96427945e-01 2.77664582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83710568099997 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:182.09, Z:27.77 [[ 1.27619313e-01 -9.91782666e-01 -8.96964899e-03 2.43953507e+02] [ 9.88223352e-01 1.27920731e-01 -8.39696013e-02 1.82092232e+02] [ 8.44269991e-02 1.85212628e-03 9.96427946e-01 2.77665960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89710568099997 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:182.15, Z:27.78 [[ 1.30066281e-01 -9.91465052e-01 -8.93383748e-03 2.43966332e+02] [ 9.87904758e-01 1.30355883e-01 -8.39734113e-02 1.82145415e+02] [ 8.44212809e-02 2.09632877e-03 9.96427947e-01 2.77794412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957105681 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:182.20, Z:27.79 [[ 1.32255223e-01 -9.91175782e-01 -8.89518217e-03 2.43979064e+02] [ 9.87614601e-01 1.32533691e-01 -8.39775059e-02 1.82201674e+02] [ 8.44153815e-02 2.32145198e-03 9.96427947e-01 2.77863461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017105681 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:182.26, Z:27.77 [[ 1.43251705e-01 -9.89646623e-01 -8.86060613e-03 2.43996728e+02] [ 9.86082375e-01 1.43487688e-01 -8.39811540e-02 1.82259148e+02] [ 8.43830533e-02 3.29315598e-03 9.96427948e-01 2.77734928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077105681 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:182.31, Z:27.79 [[ 1.22312414e-01 -9.92452412e-01 -8.82517801e-03 2.44008160e+02] [ 9.88893684e-01 1.22620645e-01 -8.39848768e-02 1.82314510e+02] [ 8.44331426e-02 1.54523023e-03 9.96427949e-01 2.77919206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137105681 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:182.37, Z:27.80 [[ 1.10731273e-01 -9.93811522e-01 -8.78885022e-03 2.44023814e+02] [ 9.90256330e-01 1.11077912e-01 -8.39886784e-02 1.82370550e+02] [ 8.44451634e-02 5.96958747e-04 9.96427949e-01 2.77980052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197105681 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:182.43, Z:27.80 [[ 1.04072738e-01 -9.94531152e-01 -8.75515139e-03 2.44035893e+02] [ 9.90978067e-01 1.04440333e-01 -8.39921911e-02 1.82426226e+02] [ 8.44472415e-02 6.51343039e-05 9.96427950e-01 2.78030612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257105681 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:182.48, Z:27.81 [[ 1.07845261e-01 -9.94129439e-01 -8.72119184e-03 2.44042919e+02] [ 9.90574700e-01 1.08196504e-01 -8.39957171e-02 1.82482836e+02] [ 8.44462176e-02 4.19548035e-04 9.96427950e-01 2.78089599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317105681 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:182.54, Z:27.82 [[ 1.20279996e-01 -9.92702049e-01 -8.68125110e-03 2.44046851e+02] [ 9.89142904e-01 1.20583339e-01 -8.39998450e-02 1.82539640e+02] [ 8.44336325e-02 1.51650307e-03 9.96427951e-01 2.78163003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377105681 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:182.60, Z:27.82 [[ 1.31070658e-01 -9.91335354e-01 -8.64286497e-03 2.44051799e+02] [ 9.87772880e-01 1.31332020e-01 -8.40037945e-02 1.82596389e+02] [ 8.44110162e-02 2.47324501e-03 9.96427952e-01 2.78206123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437105681 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:182.65, Z:27.82 [[ 1.36785613e-01 -9.90563310e-01 -8.60377227e-03 2.44056184e+02] [ 9.86999167e-01 1.37023115e-01 -8.40077983e-02 1.82652597e+02] [ 8.43939584e-02 2.99914214e-03 9.96427953e-01 2.78162664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:182.71, Z:27.83 [[ 1.39618380e-01 -9.90168386e-01 -8.56005679e-03 2.44066360e+02] [ 9.86603345e-01 1.39841983e-01 -8.40122526e-02 1.82708621e+02] [ 8.43833319e-02 3.28427395e-03 9.96427954e-01 2.78293290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:182.77, Z:27.83 [[ 1.40190074e-01 -9.90087950e-01 -8.52019682e-03 2.44071988e+02] [ 9.86522574e-01 1.40408241e-01 -8.40162949e-02 1.82765992e+02] [ 8.43798270e-02 3.37288408e-03 9.96427954e-01 2.78277694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:182.82, Z:27.83 [[ 1.36839330e-01 -9.90556982e-01 -8.47720164e-03 2.44084510e+02] [ 9.86992131e-01 1.37065917e-01 -8.40206329e-02 1.82821990e+02] [ 8.43891600e-02 3.13039576e-03 9.96427955e-01 2.78322716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:182.88, Z:27.83 [[ 1.31282262e-01 -9.91309153e-01 -8.43384904e-03 2.44095975e+02] [ 9.87745378e-01 1.31525167e-01 -8.40249844e-02 1.82878422e+02] [ 8.44039996e-02 2.70049464e-03 9.96427956e-01 2.78301321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:182.93, Z:27.84 [[ 1.12941979e-01 -9.93566123e-01 -8.39458817e-03 2.44104448e+02] [ 9.90007159e-01 1.13247376e-01 -8.40289067e-02 1.82933670e+02] [ 8.44389401e-02 1.17968867e-03 9.96427957e-01 2.78427652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:182.99, Z:27.85 [[ 1.03162733e-01 -9.94629325e-01 -8.36400709e-03 2.44111164e+02] [ 9.91073292e-01 1.03500541e-01 -8.40319506e-02 1.82989776e+02] [ 8.44463216e-02 3.79621664e-04 9.96427958e-01 2.78498255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:183.05, Z:27.85 [[ 9.85447487e-02 -9.95097795e-01 -8.32533925e-03 2.44114045e+02] [ 9.91543045e-01 9.88957940e-02 -8.40357815e-02 1.83046535e+02] [ 8.44471618e-02 2.63527385e-05 9.96427958e-01 2.78480190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91710568099995 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:183.10, Z:27.86 [[ 1.08205007e-01 -9.94094082e-01 -8.28452007e-03 2.44118098e+02] [ 9.90535785e-01 1.08518059e-01 -8.40398054e-02 1.83102633e+02] [ 8.44424932e-02 8.87414099e-04 9.96427959e-01 2.78589996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97710568099995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:183.16, Z:27.86 [[ 1.20481046e-01 -9.92681304e-01 -8.25505008e-03 2.44119022e+02] [ 9.89119224e-01 1.20747610e-01 -8.40427001e-02 1.83159990e+02] [ 8.44243947e-02 1.96032366e-03 9.96427960e-01 2.78625947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03710568099996 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:183.22, Z:27.87 [[ 1.30901024e-01 -9.91361429e-01 -8.21217236e-03 2.44126986e+02] [ 9.87796514e-01 1.31126529e-01 -8.40468898e-02 1.83216334e+02] [ 8.43976784e-02 2.88986873e-03 9.96427961e-01 2.78661831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09710568099996 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:183.27, Z:27.87 [[ 1.35828981e-01 -9.90698580e-01 -8.17378770e-03 2.44133536e+02] [ 9.87132402e-01 1.36033505e-01 -8.40506227e-02 1.83272995e+02] [ 8.43807416e-02 3.34789979e-03 9.96427961e-01 2.78727783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15710568099996 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:183.33, Z:27.88 [[ 1.41441853e-01 -9.89913153e-01 -8.13331525e-03 2.44140239e+02] [ 9.86345698e-01 1.41622732e-01 -8.40545390e-02 1.83330715e+02] [ 8.43585561e-02 3.86656922e-03 9.96427962e-01 2.78750822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21710568099996 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:183.39, Z:27.88 [[ 1.44223989e-01 -9.89511914e-01 -8.10019624e-03 2.44148327e+02] [ 9.85943832e-01 1.44392032e-01 -8.40577305e-02 1.83386714e+02] [ 8.43457296e-02 4.13680265e-03 9.96427963e-01 2.78778601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27710568099997 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:183.44, Z:27.89 [[ 1.43277113e-01 -9.89649709e-01 -8.06983010e-03 2.44156212e+02] [ 9.86081667e-01 1.43445998e-01 -8.40606457e-02 1.83441997e+02] [ 8.43481784e-02 4.08645515e-03 9.96427963e-01 2.78853537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33710568099997 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:183.50, Z:27.89 [[ 1.42145153e-01 -9.89813239e-01 -8.03168337e-03 2.44166253e+02] [ 9.86245238e-01 1.42314886e-01 -8.40642904e-02 1.83500021e+02] [ 8.43509756e-02 4.02812193e-03 9.96427964e-01 2.78853130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39710568099997 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:183.56, Z:27.89 [[ 1.37983925e-01 -9.90402198e-01 -7.99513831e-03 2.44183442e+02] [ 9.86834784e-01 1.38165556e-01 -8.40677660e-02 1.83555311e+02] [ 8.43655530e-02 3.71011972e-03 9.96427965e-01 2.78920882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457105681 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:183.61, Z:27.90 [[ 1.23213473e-01 -9.92348258e-01 -7.96089300e-03 2.44191339e+02] [ 9.88783756e-01 1.23445333e-01 -8.40710088e-02 1.83611699e+02] [ 8.44104542e-02 2.48707931e-03 9.96427965e-01 2.79005214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517105681 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:183.67, Z:27.91 [[ 1.13471971e-01 -9.93509587e-01 -7.92536845e-03 2.44204435e+02] [ 9.89947309e-01 1.13735785e-01 -8.40743576e-02 1.83667458e+02] [ 8.44300784e-02 1.69438592e-03 9.96427966e-01 2.79084191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577105681 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:183.72, Z:27.91 [[ 9.68991122e-02 -9.95262962e-01 -7.88659089e-03 2.44210752e+02] [ 9.91705279e-01 9.72189799e-02 -8.40779951e-02 1.83723334e+02] [ 8.44464408e-02 3.25909263e-04 9.96427967e-01 2.79100457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637105681 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:183.78, Z:27.91 [[ 7.82902487e-02 -9.96899718e-01 -7.84790196e-03 2.44208487e+02] [ 9.93348278e-01 7.86732572e-02 -8.40816062e-02 1.83780168e+02] [ 8.44383495e-02 -1.21293004e-03 9.96427967e-01 2.79119343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697105681 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:183.84, Z:27.92 [[ 7.59646663e-02 -9.97079963e-01 -7.80488202e-03 2.44209928e+02] [ 9.93529030e-01 7.63523310e-02 -8.40855995e-02 1.83837665e+02] [ 8.44359874e-02 -1.36684236e-03 9.96427968e-01 2.79157897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:183.90, Z:27.90 [[ 9.32128550e-02 -9.95615939e-01 -7.76308251e-03 2.44217926e+02] [ 9.92058506e-01 9.35354642e-02 -8.40894584e-02 1.83896182e+02] [ 8.44469287e-02 1.36786450e-04 9.96427969e-01 2.79036151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817105681 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:183.95, Z:27.92 [[ 8.81679750e-02 -9.96075707e-01 -7.71975032e-03 2.44199098e+02] [ 9.92519606e-01 8.85049435e-02 -8.40934364e-02 1.83953148e+02] [ 8.44466652e-02 -2.47655556e-04 9.96427970e-01 2.79193658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877105681 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:184.01, Z:27.93 [[ 8.96820117e-02 -9.95940882e-01 -7.67434282e-03 2.44184943e+02] [ 9.92383920e-01 9.00097401e-02 -8.40975802e-02 1.84009502e+02] [ 8.44469838e-02 -7.38542380e-05 9.96427971e-01 2.79253393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:184.07, Z:27.93 [[ 9.63369123e-02 -9.95319515e-01 -7.63298924e-03 2.44184166e+02] [ 9.91760145e-01 9.66373645e-02 -8.41013335e-02 1.84066628e+02] [ 8.44453304e-02 5.31968266e-04 9.96427972e-01 2.79325000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:184.12, Z:27.94 [[ 9.76566341e-02 -9.95191214e-01 -7.59146104e-03 2.44181349e+02] [ 9.91631160e-01 9.79488570e-02 -8.41050819e-02 1.84124074e+02] [ 8.44442135e-02 6.85489904e-04 9.96427973e-01 2.79386464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:184.18, Z:27.94 [[ 1.05134263e-01 -9.94429273e-01 -7.56357818e-03 2.44183121e+02] [ 9.90866949e-01 1.05397361e-01 -8.41075894e-02 1.84180991e+02] [ 8.44362302e-02 1.34808980e-03 9.96427973e-01 2.79363796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:184.24, Z:27.94 [[ 1.13046415e-01 -9.93561152e-01 -7.53290788e-03 2.44186851e+02] [ 9.89996677e-01 1.13278554e-01 -8.41103363e-02 1.84238171e+02] [ 8.44220795e-02 2.05081823e-03 9.96427974e-01 2.79424841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:184.29, Z:27.95 [[ 1.16048016e-01 -9.93215296e-01 -7.49895905e-03 2.44189111e+02] [ 9.89649959e-01 1.16266511e-01 -8.41133630e-02 1.84294355e+02] [ 8.44145565e-02 2.33984438e-03 9.96427974e-01 2.79500012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:184.35, Z:27.94 [[ 1.09654916e-01 -9.93941708e-01 -7.46198776e-03 2.44192147e+02] [ 9.90377640e-01 1.09893220e-01 -8.41166427e-02 1.84352060e+02] [ 8.44270614e-02 1.83361756e-03 9.96427975e-01 2.79440714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:184.41, Z:27.96 [[ 1.04328580e-01 -9.94515161e-01 -7.42582827e-03 2.44202882e+02] [ 9.90952202e-01 1.04582916e-01 -8.41198348e-02 1.84406616e+02] [ 8.44350658e-02 1.41746200e-03 9.96427976e-01 2.79629135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:184.46, Z:27.97 [[ 9.04729052e-02 -9.95871437e-01 -7.39831732e-03 2.44204504e+02] [ 9.92312167e-01 9.07744960e-02 -8.41222544e-02 1.84463310e+02] [ 8.44465289e-02 2.69344451e-04 9.96427976e-01 2.79676332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41710568099995 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:184.52, Z:27.98 [[ 8.06472837e-02 -9.96715511e-01 -7.36245577e-03 2.44211425e+02] [ 9.93159104e-01 8.09809346e-02 -8.41253930e-02 1.84518873e+02] [ 8.44453026e-02 -5.27605544e-04 9.96427977e-01 2.79753080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47710568099995 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:184.58, Z:27.98 [[ 7.57999842e-02 -9.97096142e-01 -7.32439716e-03 2.44214814e+02] [ 9.93541085e-01 7.61477128e-02 -8.41287065e-02 1.84576051e+02] [ 8.44421447e-02 -9.00134879e-04 9.96427977e-01 2.79764697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53710568099996 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:184.63, Z:27.98 [[ 7.83149351e-02 -9.96902053e-01 -7.28482272e-03 2.44214202e+02] [ 9.93345814e-01 7.86503553e-02 -8.41321332e-02 1.84633606e+02] [ 8.44444502e-02 -6.47545602e-04 9.96427978e-01 2.79783147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59710568099996 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:184.69, Z:27.97 [[ 9.43748664e-02 -9.95510343e-01 -7.24856476e-03 2.44222004e+02] [ 9.91948922e-01 9.46498522e-02 -8.41352570e-02 1.84689502e+02] [ 8.44435941e-02 7.50047643e-04 9.96427979e-01 2.79744627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65710568099996 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:184.75, Z:27.98 [[ 8.88871982e-02 -9.96015525e-01 -7.22080194e-03 2.44214882e+02] [ 9.92455481e-01 8.91794616e-02 -8.41376397e-02 1.84747123e+02] [ 8.44463426e-02 3.12434601e-04 9.96427979e-01 2.79800036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71710568099996 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:184.80, Z:27.99 [[ 9.69369564e-02 -9.95264585e-01 -7.18555680e-03 2.44222258e+02] [ 9.91702076e-01 9.71974485e-02 -8.41406497e-02 1.84803913e+02] [ 8.44406266e-02 1.03040690e-03 9.96427980e-01 2.79859757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77710568099997 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:184.86, Z:27.99 [[ 1.04290336e-01 -9.94521179e-01 -7.15193565e-03 2.44231937e+02] [ 9.90956657e-01 1.04521647e-01 -8.41435074e-02 1.84859607e+02] [ 8.44300323e-02 1.68809639e-03 9.96427980e-01 2.79909484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83710568099997 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:184.92, Z:28.00 [[ 1.03180575e-01 -9.94637213e-01 -7.11215413e-03 2.44229918e+02] [ 9.91072732e-01 1.03412499e-01 -8.41468698e-02 1.84917448e+02] [ 8.44310938e-02 1.63366036e-03 9.96427981e-01 2.79993454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89710568099997 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:184.97, Z:28.00 [[ 1.19068010e-01 -9.92860873e-01 -7.07782033e-03 2.44236997e+02] [ 9.89292999e-01 1.19240015e-01 -8.41497577e-02 1.84973741e+02] [ 8.43929613e-02 3.01750612e-03 9.96427982e-01 2.80008132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957105681 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:185.03, Z:28.01 [[ 1.25616541e-01 -9.92053814e-01 -7.05085086e-03 2.44246903e+02] [ 9.88484788e-01 1.25762717e-01 -8.41520174e-02 1.85030987e+02] [ 8.43700640e-02 3.60122651e-03 9.96427982e-01 2.80106471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017105681 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:185.09, Z:28.01 [[ 1.26579316e-01 -9.91931673e-01 -7.01665938e-03 2.44258003e+02] [ 9.88362393e-01 1.26719133e-01 -8.41548683e-02 1.85088763e+02] [ 8.43650242e-02 3.71726342e-03 9.96427983e-01 2.80137202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077105681 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:185.14, Z:28.02 [[ 1.27582133e-01 -9.91803427e-01 -6.98297575e-03 2.44274827e+02] [ 9.88233900e-01 1.27715489e-01 -8.41576632e-02 1.85144226e+02] [ 8.43596929e-02 3.83620082e-03 9.96427983e-01 2.80179644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:185.20, Z:28.02 [[ 1.24811320e-01 -9.92156186e-01 -6.94527744e-03 2.44294093e+02] [ 9.88586920e-01 1.24951454e-01 -8.41607743e-02 1.85199739e+02] [ 8.43684554e-02 3.63820686e-03 9.96427984e-01 2.80224985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197105681 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:185.26, Z:28.02 [[ 1.17132379e-01 -9.93092305e-01 -6.90500514e-03 2.44305883e+02] [ 9.89524072e-01 1.17296712e-01 -8.41640784e-02 1.85255659e+02] [ 8.43926330e-02 3.02566990e-03 9.96427985e-01 2.80208019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257105681 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:185.31, Z:28.03 [[ 1.05313567e-01 -9.94415403e-01 -6.85996916e-03 2.44323109e+02] [ 9.90849159e-01 1.05516515e-01 -8.41677491e-02 1.85311876e+02] [ 8.44215461e-02 2.06681120e-03 9.96427986e-01 2.80327642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:185.37, Z:28.04 [[ 1.00376237e-01 -9.94926130e-01 -6.82687123e-03 2.44333470e+02] [ 9.91360766e-01 1.00594086e-01 -8.41704336e-02 1.85368842e+02] [ 8.44301067e-02 1.68081914e-03 9.96427986e-01 2.80398048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:185.42, Z:28.04 [[ 9.74349817e-02 -9.95218706e-01 -6.79356199e-03 2.44341950e+02] [ 9.91653822e-01 9.76605512e-02 -8.41731220e-02 1.85424890e+02] [ 8.44341286e-02 1.46454490e-03 9.96427987e-01 2.80399597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.48, Z:28.05 [[ 9.75162143e-02 -9.95211017e-01 -6.75417835e-03 2.44345050e+02] [ 9.91645907e-01 9.77381628e-02 -8.41762822e-02 1.85482209e+02] [ 8.44333044e-02 1.51079906e-03 9.96427988e-01 2.80465424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.54, Z:28.05 [[ 1.02715425e-01 -9.94688114e-01 -6.71550490e-03 2.44345822e+02] [ 9.91121708e-01 1.02915470e-01 -8.41793675e-02 1.85538911e+02] [ 8.44233456e-02 1.99063686e-03 9.96427988e-01 2.80520824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.60, Z:28.05 [[ 1.09587585e-01 -9.93954724e-01 -6.67591845e-03 2.44350641e+02] [ 9.90386859e-01 1.09759627e-01 -8.41825068e-02 1.85596200e+02] [ 8.44063467e-02 2.61361571e-03 9.96427989e-01 2.80530617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.65, Z:28.05 [[ 1.03595301e-01 -9.94597410e-01 -6.63368097e-03 2.44346613e+02] [ 9.91030455e-01 1.03785270e-01 -8.41858352e-02 1.85654086e+02] [ 8.44194920e-02 2.14707710e-03 9.96427990e-01 2.80458039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.71, Z:28.06 [[ 1.03863341e-01 -9.94569636e-01 -6.60643918e-03 2.44352229e+02] [ 9.91002509e-01 1.04050044e-01 -8.41879729e-02 1.85711017e+02] [ 8.44182019e-02 2.19704631e-03 9.96427990e-01 2.80564209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.77, Z:28.07 [[ 8.93550164e-02 -9.95978132e-01 -6.57586555e-03 2.44353635e+02] [ 9.92413934e-01 8.95911114e-02 -8.41903610e-02 1.85766809e+02] [ 8.44408975e-02 9.96850488e-04 9.96427991e-01 2.80740800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:185.82, Z:28.07 [[ 7.74644867e-02 -9.96973662e-01 -6.53992153e-03 2.44359131e+02] [ 9.93412299e-01 7.77400581e-02 -8.41931531e-02 1.85822097e+02] [ 8.44467700e-02 2.51409030e-05 9.96427992e-01 2.80735590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:185.88, Z:28.08 [[ 6.24052112e-02 -9.98029758e-01 -6.49546984e-03 2.44356244e+02] [ 9.94472617e-01 6.27307649e-02 -8.41965825e-02 1.85877943e+02] [ 8.44381606e-02 -1.20526138e-03 9.96427993e-01 2.80835843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91710568099995 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.93, Z:28.08 [[ 5.42549205e-02 -9.98506243e-01 -6.45643089e-03 2.44351100e+02] [ 9.94951553e-01 5.46062145e-02 -8.41995760e-02 1.85933818e+02] [ 8.44263636e-02 -1.85559464e-03 9.96427993e-01 2.80822209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97710568099995 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:185.99, Z:28.09 [[ 5.17810659e-02 -9.98637868e-01 -6.41326268e-03 2.44348321e+02] [ 9.95083693e-01 5.21375276e-02 -8.42028640e-02 1.85990370e+02] [ 8.44225402e-02 -2.02161906e-03 9.96427994e-01 2.80915716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03710568099996 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:186.05, Z:28.10 [[ 4.44049517e-02 -9.98993261e-01 -6.37684163e-03 2.44345977e+02] [ 9.95441487e-01 4.47845834e-02 -8.42056222e-02 1.86047006e+02] [ 8.44064333e-02 -2.60862613e-03 9.96427995e-01 2.80965419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09710568099996 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:186.10, Z:28.10 [[ 4.35841159e-02 -9.99029648e-01 -6.33928753e-03 2.44332116e+02] [ 9.95477849e-01 4.39635036e-02 -8.42084494e-02 1.86104443e+02] [ 8.44054348e-02 -2.64046950e-03 9.96427996e-01 2.80979420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15710568099996 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:186.16, Z:28.11 [[ 6.21139959e-02 -9.98049169e-01 -6.30147447e-03 2.44316011e+02] [ 9.94490662e-01 6.24242232e-02 -8.42112789e-02 1.86162217e+02] [ 8.44403616e-02 -1.03605848e-03 9.96427996e-01 2.81098801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21710568099996 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:186.22, Z:28.10 [[ 6.54160779e-02 -9.97838425e-01 -6.26218939e-03 2.44299706e+02] [ 9.94278635e-01 6.57112137e-02 -8.42142003e-02 1.86222005e+02] [ 8.44436610e-02 -7.17398435e-04 9.96427997e-01 2.81040694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27710568099997 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:186.28, Z:28.12 [[ 8.97172830e-02 -9.95947818e-01 -6.22523267e-03 2.44287988e+02] [ 9.92381712e-01 8.99224431e-02 -8.42169321e-02 1.86280033e+02] [ 8.44354579e-02 1.37790728e-03 9.96427998e-01 2.81171282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33710568099997 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:186.34, Z:28.13 [[ 9.89787589e-02 -9.95070288e-01 -6.19088213e-03 2.44280952e+02] [ 9.91502290e-01 9.91478290e-02 -8.42194572e-02 1.86337591e+02] [ 8.44180921e-02 2.19766354e-03 9.96427998e-01 2.81258843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39710568099997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:186.40, Z:28.13 [[ 9.77183728e-02 -9.95195063e-01 -6.15680155e-03 2.44274058e+02] [ 9.91627143e-01 9.78890796e-02 -8.42219487e-02 1.86395111e+02] [ 8.44199511e-02 2.12478025e-03 9.96427999e-01 2.81319312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457105681 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:186.45, Z:28.13 [[ 1.00311072e-01 -9.94937295e-01 -6.12107827e-03 2.44275136e+02] [ 9.91368808e-01 1.00469461e-01 -8.42245449e-02 1.86452568e+02] [ 8.44131223e-02 2.38040836e-03 9.96428000e-01 2.81311544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517105681 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:186.51, Z:28.13 [[ 1.08259960e-01 -9.94103967e-01 -6.08963626e-03 2.44280391e+02] [ 9.90534233e-01 1.08387162e-01 -8.42268182e-02 1.86511018e+02] [ 8.43902525e-02 3.08639882e-03 9.96428000e-01 2.81282629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577105681 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:186.57, Z:28.13 [[ 1.17266246e-01 -9.93081964e-01 -6.06960918e-03 2.44282569e+02] [ 9.89511179e-01 1.17359391e-01 -8.42282614e-02 1.86569028e+02] [ 8.43578929e-02 3.87118589e-03 9.96428000e-01 2.81273992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637105681 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:186.63, Z:28.14 [[ 1.20354560e-01 -9.92712614e-01 -6.03703835e-03 2.44288445e+02] [ 9.89141495e-01 1.20433840e-01 -8.42305959e-02 1.86626361e+02] [ 8.43438388e-02 4.16605115e-03 9.96428001e-01 2.81380868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697105681 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:186.68, Z:28.15 [[ 1.19636827e-01 -9.92799566e-01 -6.00426926e-03 2.44297378e+02] [ 9.89228443e-01 1.19715916e-01 -8.42329318e-02 1.86682449e+02] [ 8.43452247e-02 4.13776675e-03 9.96428001e-01 2.81468864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757105681 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:186.74, Z:28.16 [[ 1.08271631e-01 -9.94103439e-01 -5.96711507e-03 2.44305073e+02] [ 9.90533351e-01 1.08388424e-01 -8.42355638e-02 1.86738914e+02] [ 8.43856299e-02 3.20969538e-03 9.96428002e-01 2.81607326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817105681 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:186.80, Z:28.16 [[ 9.51735126e-02 -9.95443005e-01 -5.93516383e-03 2.44316205e+02] [ 9.91874642e-01 9.53345982e-02 -8.42378150e-02 1.86795496e+02] [ 8.44197702e-02 2.13027025e-03 9.96428003e-01 2.81645755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877105681 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:186.85, Z:28.17 [[ 8.63573543e-02 -9.96246763e-01 -5.89864782e-03 2.44323041e+02] [ 9.92679801e-01 8.65469367e-02 -8.42403720e-02 1.86852732e+02] [ 8.44347079e-02 1.41930710e-03 9.96428003e-01 2.81674389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:186.91, Z:28.18 [[ 7.85624193e-02 -9.96891958e-01 -5.86262271e-03 2.44333933e+02] [ 9.93326404e-01 7.87768514e-02 -8.42428791e-02 1.86909119e+02] [ 8.44428877e-02 7.94826459e-04 9.96428004e-01 2.81774933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:186.97, Z:28.17 [[ 7.68882351e-02 -9.97022712e-01 -5.82323962e-03 2.44350598e+02] [ 9.93457320e-01 7.71053271e-02 -8.42456014e-02 1.86965974e+02] [ 8.44437809e-02 6.92355578e-04 9.96428005e-01 2.81667260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:187.02, Z:28.18 [[ 5.55231279e-02 -9.98440670e-01 -5.78012781e-03 2.44338961e+02] [ 9.94880447e-01 5.58128724e-02 -8.42485593e-02 1.87022863e+02] [ 8.44397936e-02 -1.07279260e-03 9.96428006e-01 2.81767174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:187.08, Z:28.19 [[ 6.52797430e-02 -9.97850507e-01 -5.73769503e-03 2.44344255e+02] [ 9.94287368e-01 6.55310916e-02 -8.42514492e-02 1.87079417e+02] [ 8.44463487e-02 -2.05004741e-04 9.96428007e-01 2.81892076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:187.14, Z:28.20 [[ 5.51279893e-02 -9.98463077e-01 -5.69117902e-03 2.44328106e+02] [ 9.94902364e-01 5.54116383e-02 -8.42545913e-02 1.87137146e+02] [ 8.44404560e-02 -1.01738125e-03 9.96428008e-01 2.81951597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:187.20, Z:28.19 [[ 4.95084539e-02 -9.98757720e-01 -5.65072408e-03 2.44326641e+02] [ 9.95198371e-01 4.98087239e-02 -8.42573045e-02 1.87195229e+02] [ 8.44340886e-02 -1.45214252e-03 9.96428008e-01 2.81874112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:187.25, Z:28.21 [[ 3.63473596e-02 -9.99323421e-01 -5.61871844e-03 2.44317530e+02] [ 9.95768075e-01 3.66917953e-02 -8.42594388e-02 1.87251334e+02] [ 8.44085915e-02 -2.53233232e-03 9.96428009e-01 2.82099391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:187.31, Z:28.21 [[ 2.78902286e-02 -9.99595403e-01 -5.58257762e-03 2.44304833e+02] [ 9.96042780e-01 2.82616936e-02 -8.42618333e-02 1.87310640e+02] [ 8.43855143e-02 -3.21040435e-03 9.96428010e-01 2.82100475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:187.37, Z:28.21 [[ 3.28237984e-02 -9.99445760e-01 -5.54714645e-03 2.44297172e+02] [ 9.95891052e-01 3.31747395e-02 -8.42641658e-02 1.87367711e+02] [ 8.44014883e-02 -2.75848352e-03 9.96428010e-01 2.82123005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:187.43, Z:28.22 [[ 3.92093553e-02 -9.99215846e-01 -5.50628043e-03 2.44284844e+02] [ 9.95658653e-01 3.95341316e-02 -8.42668362e-02 1.87425734e+02] [ 8.44184440e-02 -2.17832743e-03 9.96428011e-01 2.82165832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:187.48, Z:28.22 [[ 4.95258033e-02 -9.98757872e-01 -5.46877580e-03 2.44270627e+02] [ 9.95197261e-01 4.98106647e-02 -8.42692701e-02 1.87483522e+02] [ 8.44370003e-02 -1.26900740e-03 9.96428012e-01 2.82213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:187.54, Z:28.23 [[ 6.46878665e-02 -9.97890774e-01 -5.42981793e-03 2.44260016e+02] [ 9.94326036e-01 6.49153314e-02 -8.42717803e-02 1.87542576e+02] [ 8.44465105e-02 5.23523290e-05 9.96428013e-01 2.82260421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:187.60, Z:28.23 [[ 7.65724587e-02 -9.97049423e-01 -5.39512080e-03 2.44248535e+02] [ 9.93482078e-01 7.67545039e-02 -8.42740017e-02 1.87600045e+02] [ 8.44394445e-02 1.09311169e-03 9.96428013e-01 2.82266615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:187.66, Z:28.23 [[ 8.44047352e-02 -9.96417164e-01 -5.35496802e-03 2.44242796e+02] [ 9.92848355e-01 8.45553486e-02 -8.42765530e-02 1.87657568e+02] [ 8.44273952e-02 1.79666895e-03 9.96428014e-01 2.82346471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:187.72, Z:28.23 [[ 8.49715741e-02 -9.96369181e-01 -5.31856879e-03 2.44247656e+02] [ 9.92800160e-01 8.51170800e-02 -8.42788501e-02 1.87715094e+02] [ 8.44255499e-02 1.88103061e-03 9.96428015e-01 2.82307329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:187.77, Z:28.24 [[ 7.58634886e-02 -9.97104152e-01 -5.29544525e-03 2.44253295e+02] [ 9.93536513e-01 7.60396469e-02 -8.42803030e-02 1.87772441e+02] [ 8.44389039e-02 1.13257960e-03 9.96428015e-01 2.82424414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89710568099997 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:187.83, Z:28.23 [[ 6.08424320e-02 -9.98133509e-01 -5.26280815e-03 2.44261750e+02] [ 9.94568751e-01 6.10695291e-02 -8.42823410e-02 1.87829594e+02] [ 8.44464260e-02 -1.06281923e-04 9.96428015e-01 2.82322201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:187.89, Z:28.25 [[ 5.93202676e-02 -9.98225330e-01 -5.22468895e-03 2.44274742e+02] [ 9.94660714e-01 5.95495819e-02 -8.42847041e-02 1.87885457e+02] [ 8.44462545e-02 -1.97001642e-04 9.96428016e-01 2.82544356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:187.94, Z:28.25 [[ 5.33034629e-02 -9.98564855e-01 -5.19333176e-03 2.44284449e+02] [ 9.95001502e-01 5.35516084e-02 -8.42866362e-02 1.87944155e+02] [ 8.44437839e-02 -6.74603313e-04 9.96428017e-01 2.82473279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:188.00, Z:28.25 [[ 4.65849129e-02 -9.98900998e-01 -5.16155428e-03 2.44286970e+02] [ 9.95339191e-01 4.68543427e-02 -8.42885822e-02 1.88000567e+02] [ 8.44377901e-02 -1.21092100e-03 9.96428017e-01 2.82546243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:188.06, Z:28.26 [[ 5.19854732e-02 -9.98634673e-01 -5.12837347e-03 2.44286839e+02] [ 9.95071266e-01 5.22328393e-02 -8.42906010e-02 1.88058438e+02] [ 8.44433863e-02 -7.21210301e-04 9.96428018e-01 2.82621810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:188.11, Z:28.28 [[ 6.44528232e-02 -9.97907740e-01 -5.09668785e-03 2.44286714e+02] [ 9.94341371e-01 6.46529921e-02 -8.42925169e-02 1.88113198e+02] [ 8.44456711e-02 3.65043105e-04 9.96428018e-01 2.82785277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:188.17, Z:28.28 [[ 7.53246797e-02 -9.97146228e-01 -5.05900518e-03 2.44289492e+02] [ 9.93577747e-01 7.54827840e-02 -8.42947785e-02 1.88171751e+02] [ 8.44360882e-02 1.32296222e-03 9.96428019e-01 2.82771163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:188.23, Z:28.29 [[ 8.06408960e-02 -9.96730549e-01 -5.02579544e-03 2.44297452e+02] [ 9.93161169e-01 8.07771618e-02 -8.42967585e-02 1.88228626e+02] [ 8.44271239e-02 1.80634127e-03 9.96428019e-01 2.82876684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:188.29, Z:28.29 [[ 9.00530440e-02 -9.95924458e-01 -4.99237357e-03 2.44307549e+02] [ 9.92353870e-01 9.01527588e-02 -8.42987379e-02 1.88286702e+02] [ 8.44052511e-02 2.63715672e-03 9.96428020e-01 2.82857133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:188.34, Z:28.28 [[ 1.01316722e-01 -9.94841873e-01 -4.95673227e-03 2.44317357e+02] [ 9.91270337e-01 1.01373013e-01 -8.43008336e-02 1.88344995e+02] [ 8.43684781e-02 3.62762244e-03 9.96428021e-01 2.82839543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:188.40, Z:28.29 [[ 1.11029299e-01 -9.93804943e-01 -4.92239788e-03 2.44330912e+02] [ 9.90233012e-01 1.11047797e-01 -8.43028384e-02 1.88401065e+02] [ 8.43271989e-02 4.48576416e-03 9.96428021e-01 2.82860236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:188.46, Z:28.29 [[ 1.11786099e-01 -9.93720285e-01 -4.88494528e-03 2.44346288e+02] [ 9.90148329e-01 1.11798709e-01 -8.43050086e-02 1.88458336e+02] [ 8.43217278e-02 4.58730764e-03 9.96428022e-01 2.82890082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:188.51, Z:28.29 [[ 1.08140848e-01 -9.94123748e-01 -4.85091948e-03 2.44367482e+02] [ 9.90551843e-01 1.08163680e-01 -8.43069664e-02 1.88514520e+02] [ 8.43362507e-02 4.31193965e-03 9.96428023e-01 2.82944859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:188.57, Z:28.30 [[ 9.50330311e-02 -9.95462475e-01 -4.81494093e-03 2.44384736e+02] [ 9.91891124e-01 9.50998810e-02 -8.43090213e-02 1.88570888e+02] [ 8.43843673e-02 3.23624467e-03 9.96428023e-01 2.83027436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:188.63, Z:28.31 [[ 7.41961452e-02 -9.97232208e-01 -4.78067440e-03 2.44406762e+02] [ 9.93662923e-01 7.43347649e-02 -8.43109643e-02 1.88627853e+02] [ 8.44329794e-02 1.50516965e-03 9.96428024e-01 2.83076033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:188.68, Z:28.32 [[ 6.23010879e-02 -9.98046115e-01 -4.74613947e-03 2.44417383e+02] [ 9.94478590e-01 6.24793363e-02 -8.43129084e-02 1.88683088e+02] [ 8.44447064e-02 5.32851825e-04 9.96428024e-01 2.83173047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:188.74, Z:28.32 [[ 5.97639515e-02 -9.98201449e-01 -4.70507408e-03 2.44423606e+02] [ 9.94634208e-01 5.99477991e-02 -8.43152001e-02 1.88738802e+02] [ 8.44456137e-02 3.59181894e-04 9.96428025e-01 2.83176604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91710568099995 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:188.80, Z:28.32 [[ 6.29646448e-02 -9.98004875e-01 -4.66077682e-03 2.44429984e+02] [ 9.94436886e-01 6.31333098e-02 -8.43176487e-02 1.88795138e+02] [ 8.44436748e-02 6.74182413e-04 9.96428026e-01 2.83215690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97710568099995 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:188.85, Z:28.33 [[ 7.14116055e-02 -9.97436210e-01 -4.62491466e-03 2.44431724e+02] [ 9.93866805e-01 7.15470268e-02 -8.43196158e-02 1.88853035e+02] [ 8.44343369e-02 1.42484999e-03 9.96428027e-01 2.83317132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03710568099996 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:188.91, Z:28.33 [[ 7.55115761e-02 -9.97134341e-01 -4.59440241e-03 2.44432312e+02] [ 9.93564323e-01 7.56297430e-02 -8.43212784e-02 1.88909155e+02] [ 8.44271158e-02 1.80239831e-03 9.96428027e-01 2.83328446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09710568099996 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:188.97, Z:28.34 [[ 6.87084475e-02 -9.97626331e-01 -4.56647829e-03 2.44436051e+02] [ 9.94057109e-01 6.88486027e-02 -8.43227906e-02 1.88966043e+02] [ 8.44370319e-02 1.25434782e-03 9.96428028e-01 2.83397272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15710568099996 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:189.02, Z:28.35 [[ 4.83410450e-02 -9.98820608e-01 -4.53177093e-03 2.44438101e+02] [ 9.95254815e-01 4.85510586e-02 -8.43246559e-02 1.89023188e+02] [ 8.44452264e-02 -4.33924850e-04 9.96428028e-01 2.83452390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21710568099996 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:189.08, Z:28.34 [[ 1.75261705e-02 -9.99836290e-01 -4.49742157e-03 2.44422453e+02] [ 9.96278408e-01 1.78431181e-02 -8.43264880e-02 1.89080806e+02] [ 8.43929309e-02 -3.00276360e-03 9.96428029e-01 2.83366978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27710568099997 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:189.14, Z:28.35 [[ 2.73842289e-02 -9.99615040e-01 -4.45828572e-03 2.44433683e+02] [ 9.96053947e-01 2.76627792e-02 -8.43285571e-02 1.89136458e+02] [ 8.44194225e-02 -2.13142057e-03 9.96428030e-01 2.83518135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33710568099997 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:189.19, Z:28.36 [[ 2.68024968e-02 -9.99630975e-01 -4.42045647e-03 2.44420420e+02] [ 9.96069795e-01 2.70799301e-02 -8.43305401e-02 1.89193172e+02] [ 8.44191256e-02 -2.14281415e-03 9.96428030e-01 2.83551153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:189.25, Z:28.35 [[ 4.19213309e-02 -9.99111291e-01 -4.38517020e-03 2.44405226e+02] [ 9.95546138e-01 4.21418828e-02 -8.43323749e-02 1.89249906e+02] [ 8.44422274e-02 -8.30313860e-04 9.96428031e-01 2.83544526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:189.31, Z:28.35 [[ 5.98114155e-02 -9.98200200e-01 -4.35385520e-03 2.44397393e+02] [ 9.94631553e-01 5.99654248e-02 -8.43339917e-02 1.89308098e+02] [ 8.44432881e-02 7.13653655e-04 9.96428031e-01 2.83525091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517105681 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:189.37, Z:28.36 [[ 7.43710783e-02 -9.97221288e-01 -4.31805841e-03 2.44390264e+02] [ 9.93650689e-01 7.44699708e-02 -8.43358245e-02 1.89366587e+02] [ 8.44230453e-02 1.98150450e-03 9.96428032e-01 2.83588190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:189.42, Z:28.37 [[ 8.71761090e-02 -9.96183692e-01 -4.28701206e-03 2.44389105e+02] [ 9.92612080e-01 8.72264976e-02 -8.43374027e-02 1.89424279e+02] [ 8.43894862e-02 3.09686666e-03 9.96428033e-01 2.83706026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:189.48, Z:28.38 [[ 9.16511941e-02 -9.95782083e-01 -4.25453785e-03 2.44389498e+02] [ 9.92210256e-01 9.16827888e-02 -8.43390410e-02 1.89479940e+02] [ 8.43733738e-02 3.50837773e-03 9.96428033e-01 2.83751946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:189.54, Z:28.37 [[ 8.92572300e-02 -9.95999680e-01 -4.21725328e-03 2.44394313e+02] [ 9.92427905e-01 8.92942584e-02 -8.43409053e-02 1.89538412e+02] [ 8.43800912e-02 3.34271575e-03 9.96428034e-01 2.83717971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:189.59, Z:28.38 [[ 8.25810376e-02 -9.96575586e-01 -4.18017437e-03 2.44402084e+02] [ 9.93004088e-01 8.26388650e-02 -8.43427431e-02 1.89594299e+02] [ 8.43993635e-02 2.81418099e-03 9.96428034e-01 2.83785129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:189.65, Z:28.38 [[ 7.61130504e-02 -9.97090599e-01 -4.14026303e-03 2.44412602e+02] [ 9.93519477e-01 7.61906765e-02 -8.43447023e-02 1.89651990e+02] [ 8.44147591e-02 2.30630061e-03 9.96428035e-01 2.83811199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877105681 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:189.71, Z:28.40 [[ 7.18238660e-02 -9.97408870e-01 -4.10839667e-03 2.44421588e+02] [ 9.93838047e-01 7.19141575e-02 -8.43462545e-02 1.89706240e+02] [ 8.44231543e-02 1.97499316e-03 9.96428036e-01 2.83971463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:189.76, Z:28.39 [[ 5.93629538e-02 -9.98228176e-01 -4.06801397e-03 2.44435233e+02] [ 9.94658632e-01 5.94944178e-02 -8.43482022e-02 1.89763753e+02] [ 8.44407761e-02 9.60873218e-04 9.96428037e-01 2.83941603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:189.82, Z:28.40 [[ 3.61333180e-02 -9.99338862e-01 -4.02767637e-03 2.44444189e+02] [ 9.95773139e-01 3.63443512e-02 -8.43501284e-02 1.89820971e+02] [ 8.44407446e-02 -9.62801929e-04 9.96428037e-01 2.83962195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:189.88, Z:28.41 [[ 3.00386552e-02 -9.99540768e-01 -3.99143023e-03 2.44451794e+02] [ 9.95976201e-01 3.02683703e-02 -8.43518435e-02 1.89877294e+02] [ 8.44339206e-02 -1.44155357e-03 9.96428038e-01 2.84096101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:189.93, Z:28.41 [[ 3.83840883e-02 -9.99255238e-01 -3.95363807e-03 2.44452265e+02] [ 9.95688700e-01 3.85808402e-02 -8.43536149e-02 1.89934163e+02] [ 8.44433262e-02 -6.98756144e-04 9.96428039e-01 2.84127982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:189.99, Z:28.41 [[ 5.99575884e-02 -9.98193205e-01 -3.92586867e-03 2.44447586e+02] [ 9.94623172e-01 6.00749161e-02 -8.43549073e-02 1.89991544e+02] [ 8.44383416e-02 1.15295687e-03 9.96428039e-01 2.84062855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:190.05, Z:28.41 [[ 7.10683546e-02 -9.97463885e-01 -3.88419751e-03 2.44447501e+02] [ 9.93892693e-01 7.11424022e-02 -8.43568261e-02 1.90048774e+02] [ 8.44192187e-02 2.13462532e-03 9.96428040e-01 2.84060634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:190.11, Z:28.42 [[ 8.56580417e-02 -9.96317163e-01 -3.84841743e-03 2.44447136e+02] [ 9.92745253e-01 8.56767945e-02 -8.43584585e-02 1.90106242e+02] [ 8.43775001e-02 3.40548222e-03 9.96428041e-01 2.84169672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:190.16, Z:28.42 [[ 9.06099376e-02 -9.95879154e-01 -3.81432873e-03 2.44453117e+02] [ 9.92307196e-01 9.06080517e-02 -8.43599998e-02 1.90162443e+02] [ 8.43579742e-02 3.85886848e-03 9.96428041e-01 2.84236989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41710568099995 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:190.22, Z:28.42 [[ 8.66292690e-02 -9.96233410e-01 -3.78985713e-03 2.44454877e+02] [ 9.92661466e-01 8.66395896e-02 -8.43610992e-02 1.90221024e+02] [ 8.43716972e-02 3.54609523e-03 9.96428042e-01 2.84216390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47710568099995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:190.28, Z:28.42 [[ 8.04074421e-02 -9.96755003e-01 -3.75602753e-03 2.44461241e+02] [ 9.93183169e-01 8.04372049e-02 -8.43626055e-02 1.90278583e+02] [ 8.43909734e-02 3.05295799e-03 9.96428042e-01 2.84230946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:190.34, Z:28.43 [[ 6.66886539e-02 -9.97766893e-01 -3.72175153e-03 2.44466489e+02] [ 9.94195744e-01 6.67646508e-02 -8.43641176e-02 1.90335454e+02] [ 8.44242049e-02 1.92597991e-03 9.96428043e-01 2.84334923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:190.39, Z:28.44 [[ 4.98216786e-02 -9.98751323e-01 -3.68710933e-03 2.44474682e+02] [ 9.95181858e-01 4.99550737e-02 -8.43656317e-02 1.90393155e+02] [ 8.44444761e-02 5.33893071e-04 9.96428043e-01 2.84358401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65710568099996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:190.45, Z:28.44 [[ 4.12373053e-02 -9.99142704e-01 -3.65252174e-03 2.44478150e+02] [ 9.95574385e-01 4.13984483e-02 -8.43671291e-02 1.90450013e+02] [ 8.44460103e-02 -1.57284024e-04 9.96428044e-01 2.84408548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:190.51, Z:28.44 [[ 4.50213337e-02 -9.98979483e-01 -3.61544846e-03 2.44478042e+02] [ 9.95410452e-01 4.51658293e-02 -8.43687179e-02 1.90508222e+02] [ 8.44459129e-02 1.99537017e-04 9.96428045e-01 2.84381260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:190.57, Z:28.45 [[ 4.72462781e-02 -9.98876875e-01 -3.57467376e-03 2.44477294e+02] [ 9.95307401e-01 4.73793801e-02 -8.43704455e-02 1.90565139e+02] [ 8.44450528e-02 4.28290281e-04 9.96428045e-01 2.84472376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83710568099997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:190.62, Z:28.46 [[ 3.96562600e-02 -9.99207126e-01 -3.53560817e-03 2.44473167e+02] [ 9.95638621e-01 3.98131774e-02 -8.43720826e-02 1.90622226e+02] [ 8.44459500e-02 -1.74306794e-04 9.96428046e-01 2.84578702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89710568099997 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:190.68, Z:28.46 [[ 2.19610576e-02 -9.99752696e-01 -3.50137104e-03 2.44460756e+02] [ 9.96187351e-01 2.21782355e-02 -8.43735035e-02 1.90679309e+02] [ 8.44302918e-02 -1.63509017e-03 9.96428047e-01 2.84565490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.957105681 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:190.74, Z:28.47 [[ 2.39407510e-02 -9.99707373e-01 -3.46535506e-03 2.44460970e+02] [ 9.96141428e-01 2.41478295e-02 -8.43749827e-02 1.90736009e+02] [ 8.44339731e-02 -1.43198328e-03 9.96428047e-01 2.84704916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.017105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:190.80, Z:28.46 [[ 1.57758958e-02 -9.99869635e-01 -3.44021980e-03 2.44447062e+02] [ 9.96305360e-01 1.60099687e-02 -8.43760076e-02 1.90795102e+02] [ 8.44200857e-02 -2.09640232e-03 9.96428048e-01 2.84580480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.077105681 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:190.85, Z:28.48 [[ 2.93053235e-02 -9.99564720e-01 -3.40119802e-03 2.44440696e+02] [ 9.95997435e-01 2.94878474e-02 -8.43775806e-02 1.90852421e+02] [ 8.44411467e-02 -9.14872208e-04 9.96428048e-01 2.84756388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.137105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:190.91, Z:28.48 [[ 3.76841854e-02 -9.99284030e-01 -3.36606994e-03 2.44428941e+02] [ 9.95715215e-01 3.78338302e-02 -8.43789820e-02 1.90910654e+02] [ 8.44459204e-02 -1.71893849e-04 9.96428049e-01 2.84811075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.197105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:190.97, Z:28.48 [[ 4.37408070e-02 -9.99037359e-01 -3.33120490e-03 2.44422459e+02] [ 9.95467599e-01 4.38658715e-02 -8.43803584e-02 1.90969284e+02] [ 8.44452567e-02 3.74758430e-04 9.96428050e-01 2.84842141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.257105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:191.03, Z:28.48 [[ 5.82006121e-02 -9.98299465e-01 -3.29650655e-03 2.44412294e+02] [ 9.94728210e-01 5.82710475e-02 -8.43817140e-02 1.91027918e+02] [ 8.44303109e-02 1.63193935e-03 9.96428050e-01 2.84827822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.317105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:191.08, Z:28.48 [[ 6.27397714e-02 -9.98024589e-01 -3.26197978e-03 2.44411865e+02] [ 9.94453008e-01 6.27910483e-02 -8.43830488e-02 1.91084871e+02] [ 8.44211807e-02 2.05028759e-03 9.96428051e-01 2.84820160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.377105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:191.14, Z:28.48 [[ 6.34248334e-02 -9.97981368e-01 -3.23732632e-03 2.44414253e+02] [ 9.94409725e-01 6.34715754e-02 -8.43839946e-02 1.91141858e+02] [ 8.44191326e-02 2.13281203e-03 9.96428051e-01 2.84822274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:191.20, Z:28.48 [[ 6.31642595e-02 -9.97998016e-01 -3.19952738e-03 2.44418089e+02] [ 9.94426345e-01 6.32087401e-02 -8.43854279e-02 1.91197985e+02] [ 8.44187277e-02 2.14844875e-03 9.96428052e-01 2.84815244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:191.25, Z:28.50 [[ 6.29374656e-02 -9.98012468e-01 -3.16049898e-03 2.44424354e+02] [ 9.94440768e-01 6.29794600e-02 -8.43868896e-02 1.91254834e+02] [ 8.44182145e-02 2.16816793e-03 9.96428053e-01 2.84964837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:191.31, Z:28.49 [[ 4.66535033e-02 -9.98906240e-01 -3.12652952e-03 2.44430731e+02] [ 9.95335620e-01 4.67508699e-02 -8.43881482e-02 1.91312526e+02] [ 8.44420158e-02 8.25056547e-04 9.96428053e-01 2.84937366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:191.37, Z:28.52 [[ 3.95146139e-02 -9.99214210e-01 -3.09146741e-03 2.44446394e+02] [ 9.95644278e-01 3.96345308e-02 -8.43894327e-02 1.91368395e+02] [ 8.44456492e-02 2.56614018e-04 9.96428054e-01 2.85183893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:191.43, Z:28.52 [[ 2.43937001e-02 -9.99697756e-01 -3.05695059e-03 2.44451291e+02] [ 9.96129905e-01 2.45646968e-02 -8.43906831e-02 1.91426104e+02] [ 8.44402696e-02 -9.86518888e-04 9.96428054e-01 2.85214483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:191.48, Z:28.52 [[ 1.69615583e-02 -9.99851574e-01 -3.02240790e-03 2.44456195e+02] [ 9.96284934e-01 1.71561582e-02 -8.43919203e-02 1.91484074e+02] [ 8.44312472e-02 -1.57976098e-03 9.96428055e-01 2.85209016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:191.54, Z:28.53 [[ 1.24385190e-02 -9.99918174e-01 -2.98795632e-03 2.44456954e+02] [ 9.96352281e-01 1.26463446e-02 -8.43931401e-02 1.91540790e+02] [ 8.44240213e-02 -1.92733141e-03 9.96428056e-01 2.85265958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:191.60, Z:28.53 [[ 1.02211176e-02 -9.99943414e-01 -2.94904770e-03 2.44451119e+02] [ 9.96377794e-01 1.04335685e-02 -8.43944998e-02 1.91598318e+02] [ 8.44204933e-02 -2.07575953e-03 9.96428056e-01 2.85324921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:191.66, Z:28.54 [[ 2.75979712e-03 -9.99991958e-01 -2.90995605e-03 2.44443368e+02] [ 9.96427804e-01 2.99555089e-03 -8.43958477e-02 1.91655305e+02] [ 8.44038859e-02 -2.66664570e-03 9.96428057e-01 2.85415574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:191.71, Z:28.54 [[-3.96423566e-04 -9.99995792e-01 -2.87375870e-03 2.44433161e+02] [ 9.96432190e-01 -1.52472996e-04 -8.43970803e-02 1.91713494e+02] [ 8.43962870e-02 -2.89696267e-03 9.96428058e-01 2.85414701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:191.77, Z:28.55 [[ 1.00417519e-02 -9.99945553e-01 -2.83816810e-03 2.44419099e+02] [ 9.96379426e-01 1.02454893e-02 -8.43982772e-02 1.91770968e+02] [ 8.44227603e-02 -1.98038574e-03 9.96428058e-01 2.85474400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:191.83, Z:28.55 [[ 2.46136047e-02 -9.99693110e-01 -2.80274726e-03 2.44403366e+02] [ 9.96124268e-01 2.47623586e-02 -8.43994535e-02 1.91829740e+02] [ 8.44429548e-02 -7.14509784e-04 9.96428059e-01 2.85506650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15710568099996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:191.89, Z:28.55 [[ 4.06883575e-02 -9.99168050e-01 -2.76856442e-03 2.44389256e+02] [ 9.95597205e-01 4.07768077e-02 -8.44005748e-02 1.91887689e+02] [ 8.44432510e-02 6.77745764e-04 9.96428060e-01 2.85526183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:191.95, Z:28.57 [[ 5.57666492e-02 -9.98440090e-01 -2.73268343e-03 2.44382552e+02] [ 9.94868289e-01 5.57981542e-02 -8.44017366e-02 1.91945306e+02] [ 8.44225562e-02 1.98814195e-03 9.96428060e-01 2.85654658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:192.00, Z:28.56 [[ 5.70652974e-02 -9.98366799e-01 -2.69927768e-03 2.44376381e+02] [ 9.94794941e-01 5.70893341e-02 -8.44028050e-02 1.92003351e+02] [ 8.44190582e-02 2.13124340e-03 9.96428061e-01 2.85642125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33710568099997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:192.06, Z:28.56 [[ 5.50115555e-02 -9.98482167e-01 -2.66275833e-03 2.44382733e+02] [ 9.94910341e-01 5.50398541e-02 -8.44039572e-02 1.92060376e+02] [ 8.44224039e-02 1.99398718e-03 9.96428062e-01 2.85643310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:192.12, Z:28.57 [[ 4.72515902e-02 -9.98879563e-01 -2.62807790e-03 2.44388771e+02] [ 9.95308020e-01 4.73047117e-02 -8.44050370e-02 1.92118803e+02] [ 8.44347869e-02 1.37252521e-03 9.96428062e-01 2.85655119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.457105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:192.18, Z:28.57 [[ 3.94933158e-02 -9.99216465e-01 -2.59512983e-03 2.44398619e+02] [ 9.95645381e-01 3.95713877e-02 -8.44060501e-02 1.92176609e+02] [ 8.44426079e-02 7.49645762e-04 9.96428063e-01 2.85697094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.517105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:192.24, Z:28.56 [[ 1.91587754e-02 -9.99813174e-01 -2.56095592e-03 2.44398255e+02] [ 9.96244297e-01 1.93065905e-02 -8.44070870e-02 1.92235642e+02] [ 8.44407609e-02 -9.34201308e-04 9.96428063e-01 2.85600097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.577105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:192.29, Z:28.59 [[ 2.96741787e-02 -9.99556430e-01 -2.52699033e-03 2.44412772e+02] [ 9.95986109e-01 2.97815784e-02 -8.44081039e-02 1.92291130e+02] [ 8.44459208e-02 -1.21061143e-05 9.96428064e-01 2.85851576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.637105681 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:192.35, Z:28.59 [[ 2.42181332e-02 -9.99703590e-01 -2.49297061e-03 2.44419066e+02] [ 9.96133807e-01 2.43421459e-02 -8.44091087e-02 1.92348511e+02] [ 8.44447732e-02 -4.39101269e-04 9.96428064e-01 2.85873347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.697105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:192.41, Z:28.59 [[ 2.53927781e-02 -9.99674526e-01 -2.45933746e-03 2.44422801e+02] [ 9.96104507e-01 2.55097563e-02 -8.44100887e-02 1.92406505e+02] [ 8.44453525e-02 -3.06350477e-04 9.96428065e-01 2.85925022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.757105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:192.46, Z:28.60 [[ 3.58475340e-02 -9.99354329e-01 -2.42477462e-03 2.44421996e+02] [ 9.95783218e-01 3.59242459e-02 -8.44110816e-02 1.92463465e+02] [ 8.44436880e-02 6.11379239e-04 9.96428066e-01 2.86021461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.817105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:192.52, Z:28.61 [[ 4.98711725e-02 -9.98752799e-01 -2.39017489e-03 2.44423794e+02] [ 9.95180943e-01 4.98948290e-02 -8.44120613e-02 1.92520760e+02] [ 8.44260399e-02 1.83107197e-03 9.96428066e-01 2.86070062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.877105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:192.58, Z:28.62 [[ 5.40211107e-02 -9.98537014e-01 -2.35595727e-03 2.44426050e+02] [ 9.94965086e-01 5.40270333e-02 -8.44130164e-02 1.92578644e+02] [ 8.44168068e-02 2.21598967e-03 9.96428067e-01 2.86171462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:192.64, Z:28.61 [[ 5.64601388e-02 -9.98402150e-01 -2.32381791e-03 2.44429842e+02] [ 9.94830221e-01 5.64546209e-02 -8.44139012e-02 1.92636017e+02] [ 8.44102107e-02 2.45421629e-03 9.96428067e-01 2.86145893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:192.69, Z:28.62 [[ 6.34708080e-02 -9.97981072e-01 -2.28821533e-03 2.44438216e+02] [ 9.94409298e-01 6.34371962e-02 -8.44148663e-02 1.92693514e+02] [ 8.43895968e-02 3.08245718e-03 9.96428068e-01 2.86159562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:192.75, Z:28.62 [[ 6.88561912e-02 -9.97624049e-01 -2.25431157e-03 2.44444228e+02] [ 9.94052553e-01 6.88004386e-02 -8.44157718e-02 1.92751240e+02] [ 8.43703017e-02 3.57164436e-03 9.96428068e-01 2.86227480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:192.81, Z:28.63 [[ 7.25642052e-02 -9.97361274e-01 -2.21945043e-03 2.44456660e+02] [ 9.93790068e-01 7.24922322e-02 -8.44166884e-02 1.92809143e+02] [ 8.43548288e-02 3.91996210e-03 9.96428069e-01 2.86264160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:192.86, Z:28.63 [[ 7.08250366e-02 -9.97486362e-01 -2.18453288e-03 2.44469303e+02] [ 9.93915092e-01 7.07563416e-02 -8.44175920e-02 1.92864948e+02] [ 8.43599663e-02 3.80763885e-03 9.96428070e-01 2.86349222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:192.92, Z:28.64 [[ 6.67682282e-02 -9.97766185e-01 -2.15485292e-03 2.44483610e+02] [ 9.94194705e-01 6.67115493e-02 -8.44183497e-02 1.92921182e+02] [ 8.43735283e-02 3.49412028e-03 9.96428070e-01 2.86397954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:192.98, Z:28.64 [[ 6.49724197e-02 -9.97884816e-01 -2.11636833e-03 2.44500695e+02] [ 9.94313287e-01 6.49189181e-02 -8.44193145e-02 1.92977902e+02] [ 8.43781445e-02 3.38059398e-03 9.96428071e-01 2.86406498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:193.04, Z:28.64 [[ 6.17875888e-02 -9.98087149e-01 -2.08229730e-03 2.44510451e+02] [ 9.94515504e-01 6.17426073e-02 -8.44201550e-02 1.93035952e+02] [ 8.43872383e-02 3.14524087e-03 9.96428071e-01 2.86436495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41710568099995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:193.09, Z:28.65 [[ 5.69024016e-02 -9.98377639e-01 -2.05078837e-03 2.44522742e+02] [ 9.94805839e-01 5.68722380e-02 -8.44209204e-02 1.93092612e+02] [ 8.44005922e-02 2.76361687e-03 9.96428072e-01 2.86475538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47710568099995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:193.15, Z:28.66 [[ 4.43368515e-02 -9.99014611e-01 -2.01242148e-03 2.44535424e+02] [ 9.95442703e-01 4.43483880e-02 -8.44218351e-02 1.93149527e+02] [ 8.44278944e-02 1.73974808e-03 9.96428073e-01 2.86563819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53710568099996 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:193.21, Z:28.67 [[ 2.96822450e-02 -9.99557426e-01 -1.97909919e-03 2.44537499e+02] [ 9.95986022e-01 2.97433454e-02 -8.44226163e-02 1.93205834e+02] [ 8.44441180e-02 5.34697651e-04 9.96428073e-01 2.86687525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59710568099996 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:193.26, Z:28.67 [[ 2.07495908e-02 -9.99782817e-01 -1.94249705e-03 2.44540939e+02] [ 9.96212023e-01 2.08395101e-02 -8.44234585e-02 1.93262118e+02] [ 8.44456039e-02 -1.83386705e-04 9.96428074e-01 2.86668910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:193.32, Z:28.68 [[ 1.68435177e-02 -9.99856330e-01 -1.90157073e-03 2.44543809e+02] [ 9.96285816e-01 1.69439310e-02 -8.44243804e-02 1.93318330e+02] [ 8.44444712e-02 -4.72504402e-04 9.96428075e-01 2.86758519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:193.38, Z:28.68 [[ 4.97783744e-03 -9.99985875e-01 -1.86323128e-03 2.44537556e+02] [ 9.96416677e-01 5.11737625e-03 -8.44252266e-02 1.93375693e+02] [ 8.44335689e-02 -1.43629966e-03 9.96428075e-01 2.86762003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77710568099997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:193.43, Z:28.68 [[-9.28886094e-03 -9.99955192e-01 -1.82493608e-03 2.44531692e+02] [ 9.96388178e-01 -9.10164689e-03 -8.44260545e-02 1.93431346e+02] [ 8.44056616e-02 -2.60256661e-03 9.96428076e-01 2.86844223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83710568099997 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:193.49, Z:28.68 [[-2.11566336e-02 -9.99774581e-01 -1.78428433e-03 2.44526745e+02] [ 9.96209822e-01 -2.09305227e-02 -8.44269137e-02 1.93488092e+02] [ 8.43705362e-02 -3.56371085e-03 9.96428077e-01 2.86838230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89710568099997 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:193.54, Z:28.69 [[-2.79166855e-02 -9.99608733e-01 -1.74334026e-03 2.44512783e+02] [ 9.96045345e-01 -2.76699246e-02 -8.44277592e-02 1.93544288e+02] [ 8.43464873e-02 -4.09338915e-03 9.96428078e-01 2.86860464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.957105681 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:193.60, Z:28.69 [[-2.48260103e-02 -9.99690334e-01 -1.70473119e-03 2.44495714e+02] [ 9.96125986e-01 -2.45935218e-02 -8.44285388e-02 1.93602367e+02] [ 8.43604688e-02 -3.79415081e-03 9.96428079e-01 2.86924783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.017105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:193.66, Z:28.70 [[-2.00812255e-02 -9.99796953e-01 -1.67236810e-03 2.44476650e+02] [ 9.96231379e-01 -1.98683846e-02 -8.44291799e-02 1.93660358e+02] [ 8.43788096e-02 -3.36150699e-03 9.96428079e-01 2.87006671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.077105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:193.72, Z:28.71 [[-2.45830005e-02 -9.99696447e-01 -1.63998315e-03 2.44455458e+02] [ 9.96131694e-01 -2.43568361e-02 -8.44298090e-02 1.93716947e+02] [ 8.43642353e-02 -3.70917724e-03 9.96428080e-01 2.87060409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.137105681 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:193.77, Z:28.71 [[-4.13415057e-02 -9.99143790e-01 -1.60238359e-03 2.44430686e+02] [ 9.95583078e-01 -4.10587684e-02 -8.44305227e-02 1.93774219e+02] [ 8.42924405e-02 -5.08579093e-03 9.96428080e-01 2.87086952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.197105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:193.83, Z:28.71 [[-4.90672171e-02 -9.98794247e-01 -1.56845913e-03 2.44409342e+02] [ 9.95235581e-01 -4.87598057e-02 -8.44311529e-02 1.93831575e+02] [ 8.42528720e-02 -5.70378804e-03 9.96428081e-01 2.87147225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.257105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:193.89, Z:28.73 [[-4.76486486e-02 -9.98862983e-01 -1.53231098e-03 2.44394559e+02] [ 9.95303627e-01 -4.73493340e-02 -8.44318090e-02 1.93888597e+02] [ 8.42632547e-02 -5.54817627e-03 9.96428082e-01 2.87259713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.317105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:193.95, Z:28.73 [[-2.14000555e-02 -9.99769866e-01 -1.50106550e-03 2.44363440e+02] [ 9.96203727e-01 -2.11969547e-02 -8.44323645e-02 1.93947449e+02] [ 8.43811157e-02 -3.30222433e-03 9.96428082e-01 2.87306313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.377105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:194.00, Z:28.74 [[-2.86367943e-03 -9.99994821e-01 -1.46901878e-03 2.44340750e+02] [ 9.96425427e-01 -2.72942358e-03 -8.44329221e-02 1.94004290e+02] [ 8.44284753e-02 -1.70555648e-03 9.96428083e-01 2.87419420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:194.06, Z:28.74 [[ 4.96889869e-03 -9.99986624e-01 -1.43578062e-03 2.44321808e+02] [ 9.96416207e-01 5.07238700e-03 -8.44334874e-02 1.94061848e+02] [ 8.44396409e-02 -1.01109364e-03 9.96428083e-01 2.87406476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:194.12, Z:28.74 [[ 1.08706623e-02 -9.99939929e-01 -1.40239049e-03 2.44311275e+02] [ 9.96368900e-01 1.09502572e-02 -8.44340420e-02 1.94120127e+02] [ 8.44443266e-02 -4.79444314e-04 9.96428084e-01 2.87382617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:194.18, Z:28.75 [[ 9.12777758e-03 -9.99957402e-01 -1.37005193e-03 2.44300427e+02] [ 9.96386453e-01 9.21086603e-03 -8.44345668e-02 1.94177649e+02] [ 8.44435895e-02 -5.94401239e-04 9.96428084e-01 2.87518532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.24, Z:28.75 [[ 1.02425375e-03 -9.99998579e-01 -1.33863100e-03 2.44294110e+02] [ 9.96428339e-01 1.13362447e-03 -8.44350650e-02 1.94235634e+02] [ 8.44364626e-02 -1.24736693e-03 9.96428085e-01 2.87466215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.29, Z:28.76 [[-7.48567229e-03 -9.99971139e-01 -1.29830351e-03 2.44293037e+02] [ 9.96401828e-01 -7.34932651e-03 -8.44356852e-02 1.94290927e+02] [ 8.44237066e-02 -1.92568986e-03 9.96428085e-01 2.87569603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:194.35, Z:28.74 [[ 4.53906151e-03 -9.99988890e-01 -1.27121970e-03 2.44300832e+02] [ 9.96418139e-01 4.63019149e-03 -8.44360929e-02 1.94350849e+02] [ 8.44410409e-02 -8.83405751e-04 9.96428086e-01 2.87408089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.41, Z:28.77 [[-9.08668207e-03 -9.99957947e-01 -1.23988756e-03 2.44289386e+02] [ 9.96388666e-01 -8.94955155e-03 -8.44365531e-02 1.94406488e+02] [ 8.44219058e-02 -2.00265803e-03 9.96428086e-01 2.87685518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.47, Z:28.77 [[ 2.83621558e-04 -9.99999228e-01 -1.20962492e-03 2.44288269e+02] [ 9.96428747e-01 3.84746056e-04 -8.44369866e-02 1.94465021e+02] [ 8.44373869e-02 -1.18135689e-03 9.96428087e-01 2.87665158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91710568099995 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.52, Z:28.77 [[ 1.51612418e-02 -9.99884368e-01 -1.17760901e-03 2.44289137e+02] [ 9.96312743e-01 1.52065311e-02 -8.44374332e-02 1.94520877e+02] [ 8.44455769e-02 1.06909483e-04 9.96428087e-01 2.87681564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97710568099995 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.58, Z:28.78 [[ 2.48642120e-02 -9.99690190e-01 -1.13825140e-03 2.44288401e+02] [ 9.96118285e-01 2.48715133e-02 -8.44379638e-02 1.94576490e+02] [ 8.44401141e-02 9.65650404e-04 9.96428088e-01 2.87839221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03710568099996 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:194.63, Z:28.79 [[ 3.28068356e-02 -9.99461106e-01 -1.09948853e-03 2.44292140e+02] [ 9.95889278e-01 3.27824812e-02 -8.44384686e-02 1.94634252e+02] [ 8.44290092e-02 1.67519012e-03 9.96428089e-01 2.87902178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09710568099996 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:194.69, Z:28.80 [[ 4.14754216e-02 -9.99138955e-01 -1.06690527e-03 2.44298743e+02] [ 9.95567517e-01 4.14173330e-02 -8.44388804e-02 1.94692369e+02] [ 8.44103630e-02 2.43996193e-03 9.96428089e-01 2.87953645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15710568099996 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:194.75, Z:28.80 [[ 4.23760299e-02 -9.99101196e-01 -1.03575826e-03 2.44305329e+02] [ 9.95529858e-01 4.23120919e-02 -8.44392625e-02 1.94749260e+02] [ 8.44071932e-02 2.54707243e-03 9.96428090e-01 2.87975499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21710568099996 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:194.81, Z:28.79 [[ 2.99448229e-02 -9.99551057e-01 -9.95608365e-04 2.44321577e+02] [ 9.95979221e-01 2.99219236e-02 -8.44397359e-02 1.94806657e+02] [ 8.44316179e-02 1.53692770e-03 9.96428091e-01 2.87901693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27710568099997 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:194.86, Z:28.80 [[ 1.09819399e-02 -9.99939240e-01 -9.55714692e-04 2.44335327e+02] [ 9.96367572e-01 1.10234193e-02 -8.44401875e-02 1.94862635e+02] [ 8.44455922e-02 -2.49260605e-05 9.96428091e-01 2.87991794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33710568099997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:194.92, Z:28.80 [[-3.29421970e-03 -9.99994149e-01 -9.21853839e-04 2.44352714e+02] [ 9.96423365e-01 -3.20461438e-03 -8.44405572e-02 1.94920862e+02] [ 8.44371090e-02 -1.19672245e-03 9.96428092e-01 2.88004284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39710568099997 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:194.98, Z:28.81 [[-1.61786234e-02 -9.99868724e-01 -8.87534006e-04 2.44364312e+02] [ 9.96299282e-01 -1.60459132e-02 -8.44409180e-02 1.94978062e+02] [ 8.44155916e-02 -2.25038731e-03 9.96428093e-01 2.88083587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.457105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:195.04, Z:28.82 [[-1.86502273e-02 -9.99825705e-01 -8.53906023e-04 2.44365771e+02] [ 9.96256492e-01 -1.85115316e-02 -8.44412581e-02 1.95035817e+02] [ 8.44107333e-02 -2.42555807e-03 9.96428093e-01 2.88164065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.517105681 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:195.09, Z:28.81 [[-2.96864744e-02 -9.99558922e-01 -8.21240312e-04 2.44360449e+02] [ 9.95991322e-01 -2.95111408e-02 -8.44415759e-02 1.95094853e+02] [ 8.43800948e-02 -3.32472091e-03 9.96428094e-01 2.88050168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.577105681 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:195.15, Z:28.83 [[-2.06171383e-02 -9.99787133e-01 -7.88513766e-04 2.44367650e+02] [ 9.96217980e-01 -2.04769392e-02 -8.44418815e-02 1.95151603e+02] [ 8.44077603e-02 -2.52648154e-03 9.96428094e-01 2.88250637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.637105681 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:195.21, Z:28.83 [[-2.09007417e-02 -9.99781270e-01 -7.55161330e-04 2.44362529e+02] [ 9.96212047e-01 -2.07623445e-02 -8.44421798e-02 1.95209164e+02] [ 8.44080309e-02 -2.51720500e-03 9.96428095e-01 2.88334056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.697105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:195.27, Z:28.85 [[-2.01046474e-02 -9.99797619e-01 -7.23906437e-04 2.44355528e+02] [ 9.96228188e-01 -1.99717299e-02 -8.44424478e-02 1.95266101e+02] [ 8.44109006e-02 -2.41886163e-03 9.96428095e-01 2.88453961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.757105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:195.32, Z:28.84 [[-2.68938057e-02 -9.99638058e-01 -6.89409268e-04 2.44350386e+02] [ 9.96069486e-01 -2.67395617e-02 -8.44427295e-02 1.95322860e+02] [ 8.43937317e-02 -2.95768589e-03 9.96428096e-01 2.88442993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.817105681 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:195.38, Z:28.85 [[-3.28084997e-02 -9.99461448e-01 -6.45706081e-04 2.44342965e+02] [ 9.95893672e-01 -3.26368285e-02 -8.44430638e-02 1.95380633e+02] [ 8.43765130e-02 -3.41350483e-03 9.96428097e-01 2.88471511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.877105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:195.44, Z:28.83 [[-3.38174513e-02 -9.99427839e-01 -6.12134961e-04 2.44343008e+02] [ 9.95860101e-01 -3.36450101e-02 -8.44433072e-02 1.95437632e+02] [ 8.43743967e-02 -3.46525821e-03 9.96428097e-01 2.88330948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:195.49, Z:28.86 [[-4.63218183e-02 -9.98926404e-01 -5.72715114e-04 2.44330694e+02] [ 9.95360904e-01 -4.61080663e-02 -8.44435746e-02 1.95494400e+02] [ 8.43265095e-02 -4.48163815e-03 9.96428098e-01 2.88550440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:195.55, Z:28.86 [[-4.49240736e-02 -9.98990259e-01 -5.38194337e-04 2.44313589e+02] [ 9.95424295e-01 -4.47182209e-02 -8.44437946e-02 1.95552615e+02] [ 8.43344612e-02 -4.32929097e-03 9.96428099e-01 2.88615601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:195.61, Z:28.86 [[-4.29158566e-02 -9.99078562e-01 -5.06216287e-04 2.44301344e+02] [ 9.95512042e-01 -4.27198689e-02 -8.44439864e-02 1.95610431e+02] [ 8.43445510e-02 -4.12793042e-03 9.96428099e-01 2.88630830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:195.67, Z:28.87 [[-4.20567995e-02 -9.99115109e-01 -4.73401011e-04 2.44287311e+02] [ 9.95548274e-01 -4.18666456e-02 -8.44441704e-02 1.95667391e+02] [ 8.43496268e-02 -4.02274510e-03 9.96428100e-01 2.88696033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:195.73, Z:28.87 [[-3.16986129e-02 -9.99497374e-01 -4.43338244e-04 2.44276242e+02] [ 9.95928652e-01 -3.15479762e-02 -8.44443283e-02 1.95725686e+02] [ 8.43878980e-02 -3.11830133e-03 9.96428100e-01 2.88739093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:195.78, Z:28.88 [[-2.19594586e-02 -9.99758777e-01 -4.13102936e-04 2.44261841e+02] [ 9.96188675e-01 -2.18461495e-02 -8.44444762e-02 1.95782616e+02] [ 8.44150815e-02 -2.26588344e-03 9.96428101e-01 2.88790902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters Centerline goodness : 0.997937 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:195.84, Z:28.87 [[-9.12183760e-03 -9.99958322e-01 -3.83399725e-04 2.44252711e+02] [ 9.96387013e-01 -9.05688196e-03 -8.44446111e-02 1.95840999e+02] [ 8.44376192e-02 -1.15230454e-03 9.96428101e-01 2.88718658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35710568099995 meters Centerline goodness : 0.997524 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:195.90, Z:28.88 [[ 8.95667747e-03 -9.99959827e-01 -3.50193922e-04 2.44245226e+02] [ 9.96387929e-01 8.95425708e-03 -8.44447489e-02 1.95898080e+02] [ 8.44444922e-02 4.07415383e-04 9.96428102e-01 2.88759812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41710568099995 meters Centerline goodness : 0.997441 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:195.96, Z:28.88 [[ 2.10345613e-02 -9.99778700e-01 -3.14751293e-04 2.44241967e+02] [ 9.96207132e-01 2.09860034e-02 -8.44448810e-02 1.95955083e+02] [ 8.44327987e-02 1.46270355e-03 9.96428102e-01 2.88807673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47710568099995 meters Centerline goodness : 0.997502 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:196.01, Z:28.89 [[ 2.55538923e-02 -9.99673404e-01 -2.90034221e-04 2.44246713e+02] [ 9.96102131e-01 2.54871025e-02 -8.44449659e-02 1.96011445e+02] [ 8.44247787e-02 1.86899386e-03 9.96428103e-01 2.88895513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53710568099996 meters Centerline goodness : 0.997453 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:196.07, Z:28.89 [[ 2.34322994e-02 -9.99725394e-01 -2.52324553e-04 2.44252537e+02] [ 9.96154042e-01 2.33699049e-02 -8.44450787e-02 1.96068169e+02] [ 8.44277864e-02 1.72738825e-03 9.96428103e-01 2.88935273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59710568099996 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:196.12, Z:28.90 [[ 2.99061224e-02 -9.99552689e-01 -2.11846480e-04 2.44260797e+02] [ 9.95981901e-01 2.98171836e-02 -8.44451803e-02 1.96124163e+02] [ 8.44137237e-02 2.31443264e-03 9.96428104e-01 2.89018842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65710568099996 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:196.18, Z:28.91 [[ 3.40211237e-02 -9.99421100e-01 -1.69916263e-04 2.44272470e+02] [ 9.95850813e-01 3.39139451e-02 -8.44452647e-02 1.96181563e+02] [ 8.44021419e-02 2.70371155e-03 9.96428105e-01 2.89051707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71710568099996 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:196.24, Z:28.91 [[ 3.25905704e-02 -9.99468778e-01 -1.31787606e-04 2.44288417e+02] [ 9.95898435e-01 3.24852839e-02 -8.44453243e-02 1.96237549e+02] [ 8.44047462e-02 2.62087422e-03 9.96428106e-01 2.89063329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77710568099997 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:196.29, Z:28.92 [[ 2.93386084e-02 -9.99569527e-01 -8.79381760e-05 2.44320059e+02] [ 9.95998961e-01 2.92412371e-02 -8.44453701e-02 1.96294852e+02] [ 8.44115900e-02 2.38992332e-03 9.96428107e-01 2.89205103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83710568099997 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:196.35, Z:28.93 [[ 2.12183280e-02 -9.99774864e-01 -5.37909338e-05 2.44339595e+02] [ 9.96203682e-01 2.11470798e-02 -8.44453919e-02 1.96351665e+02] [ 8.44275177e-02 1.73820330e-03 9.96428107e-01 2.89274693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89710568099997 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:196.41, Z:28.93 [[ 1.50196360e-02 -9.99887199e-01 -1.74633074e-05 2.44358503e+02] [ 9.96315688e-01 1.49674621e-02 -8.44453994e-02 1.96408630e+02] [ 8.44361353e-02 1.25094020e-03 9.96428108e-01 2.89284544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.957105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:196.40, Z:28.92 [[ 5.67381897e-03 -9.99983904e-01 1.72986827e-05 2.44372424e+02] [ 9.96412078e-01 5.65209193e-03 -8.44453924e-02 1.96397849e+02] [ 8.44439353e-02 4.96364485e-04 9.96428109e-01 2.89215984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.017105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:196.45, Z:28.93 [[-1.71081868e-03 -9.99998535e-01 -5.68737388e-05 2.44380547e+02] [ 9.96426663e-01 -1.69990511e-03 -8.44453426e-02 1.96453769e+02] [ 8.44451222e-02 -2.01141179e-04 9.96428111e-01 2.89328688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.077105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:196.51, Z:28.94 [[-1.66308675e-02 -9.99861697e-01 -2.09013042e-05 2.44384513e+02] [ 9.96290333e-01 -1.65696991e-02 -8.44453516e-02 1.96510956e+02] [ 8.44333262e-02 -1.42522322e-03 9.96428112e-01 2.89362226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.137105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:196.51, Z:28.94 [[-2.55502203e-02 -9.99673540e-01 1.58382594e-05 2.44388988e+02] [ 9.96102784e-01 -2.54602948e-02 -8.44453448e-02 1.96505888e+02] [ 8.44181800e-02 -2.14182063e-03 9.96428113e-01 2.89360694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.197105681 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:196.56, Z:28.93 [[-4.37953437e-02 -9.99040524e-01 -1.00064171e-05 2.44380424e+02] [ 9.95472101e-01 -4.36380675e-02 -8.44453417e-02 1.96564341e+02] [ 8.43638817e-02 -3.70827388e-03 9.96428113e-01 2.89270902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.257105681 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:196.58, Z:28.94 [[-3.80062886e-02 -9.99277500e-01 2.38063752e-05 2.44379042e+02] [ 9.95708118e-01 -3.78725433e-02 -8.44453322e-02 1.96575061e+02] [ 8.43852221e-02 -3.18574946e-03 9.96428113e-01 2.89384834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:196.59, Z:28.95 [[-4.68422252e-02 -9.98902300e-01 1.14293078e-05 2.44370651e+02] [ 9.95334290e-01 -4.66758742e-02 -8.44453339e-02 1.96589625e+02] [ 8.43531718e-02 -3.94423137e-03 9.96428114e-01 2.89452990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.377105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:196.65, Z:28.95 [[-5.14556810e-02 -9.98675279e-01 -3.04724317e-05 2.44359467e+02] [ 9.95108258e-01 -5.12693173e-02 -8.44453189e-02 1.96646262e+02] [ 8.43318900e-02 -4.37551475e-03 9.96428114e-01 2.89534406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:196.68, Z:28.96 [[-4.33027486e-02 -9.99061996e-01 4.51623269e-06 2.44344205e+02] [ 9.95493445e-01 -4.31484572e-02 -8.44453171e-02 1.96679543e+02] [ 8.43663019e-02 -3.65221846e-03 9.96428115e-01 2.89566182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:196.74, Z:28.94 [[-2.63008502e-02 -9.99654071e-01 -5.93523683e-05 2.44352088e+02] [ 9.96083559e-01 -2.62018964e-02 -8.44452723e-02 1.96738826e+02] [ 8.44145051e-02 -2.28010237e-03 9.96428117e-01 2.89439491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:196.79, Z:28.96 [[-2.70409257e-02 -9.99634327e-01 -2.51727404e-05 2.44319246e+02] [ 9.96063809e-01 -2.69422138e-02 -8.44452826e-02 1.96794868e+02] [ 8.44137250e-02 -2.30855227e-03 9.96428118e-01 2.89598050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:196.48, Z:28.93 [[-2.56619457e-02 -9.99670678e-01 1.29157565e-05 2.44305544e+02] [ 9.96099945e-01 -2.55713746e-02 -8.44452768e-02 1.96479835e+02] [ 8.44177974e-02 -2.15416473e-03 9.96428118e-01 2.89319500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:196.54, Z:28.94 [[-3.56632343e-02 -9.99363857e-01 -1.21660450e-04 2.44296765e+02] [ 9.95794638e-01 -3.55255832e-02 -8.44450837e-02 1.96537826e+02] [ 8.43870425e-02 -3.13273363e-03 9.96428127e-01 2.89396371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:196.59, Z:28.95 [[-5.34287504e-02 -9.98571659e-01 -9.98951757e-05 2.44277762e+02] [ 9.95005349e-01 -5.32294867e-02 -8.44451095e-02 1.96593429e+02] [ 8.43191757e-02 -4.61119291e-03 9.96428128e-01 2.89453791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:196.65, Z:28.94 [[-6.08790987e-02 -9.98145145e-01 -6.92244193e-05 2.44268837e+02] [ 9.94580259e-01 -6.06558118e-02 -8.44451346e-02 1.96651800e+02] [ 8.42843023e-02 -5.20979293e-03 9.96428128e-01 2.89386574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85710568099995 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:196.71, Z:28.94 [[-6.39287708e-02 -9.97954463e-01 -3.76151926e-05 2.44250690e+02] [ 9.94390103e-01 -6.36972556e-02 -8.44451488e-02 1.96710512e+02] [ 8.42700171e-02 -5.43587873e-03 9.96428129e-01 2.89424715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91710568099995 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:196.77, Z:28.95 [[-6.17289357e-02 -9.98092951e-01 -1.92148053e-05 2.44234991e+02] [ 9.94527992e-01 -6.15068284e-02 -8.44451530e-02 1.96768631e+02] [ 8.42829300e-02 -5.23181908e-03 9.96428129e-01 2.89492508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97710568099995 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:196.77, Z:28.95 [[-6.17772723e-02 -9.98089960e-01 1.13521030e-05 2.44218851e+02] [ 9.94524853e-01 -6.15575687e-02 -8.44451489e-02 1.96773861e+02] [ 8.42845541e-02 -5.20550101e-03 9.96428129e-01 2.89489040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03710568099996 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:196.83, Z:28.94 [[-6.06209350e-02 -9.98160859e-01 -3.70362243e-05 2.44202936e+02] [ 9.94595750e-01 -6.04012832e-02 -8.44451278e-02 1.96832086e+02] [ 8.42875843e-02 -5.15597867e-03 9.96428130e-01 2.89417406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09710568099996 meters Centerline goodness : 0.997220 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:196.89, Z:28.95 [[-4.99849914e-02 -9.98749969e-01 -5.76662852e-06 2.44185344e+02] [ 9.95182589e-01 -4.98059652e-02 -8.44451299e-02 1.96889417e+02] [ 8.43392837e-02 -4.22672794e-03 9.96428131e-01 2.89471813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15710568099996 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:196.93, Z:28.96 [[-4.20558994e-02 -9.99115259e-01 2.42398651e-05 2.44165744e+02] [ 9.95546465e-01 -4.19077264e-02 -8.44451214e-02 1.96933343e+02] [ 8.43714251e-02 -3.52728362e-03 9.96428131e-01 2.89576696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21710568099996 meters Centerline goodness : 0.995052 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:196.99, Z:28.96 [[-2.33119228e-02 -9.99728240e-01 -3.04634316e-05 2.44153082e+02] [ 9.96157404e-01 -2.32260839e-02 -8.44451018e-02 1.96988776e+02] [ 8.44214454e-02 -1.99892407e-03 9.96428133e-01 2.89636675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27710568099997 meters Centerline goodness : 0.993708 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:196.72, Z:28.94 [[-8.33678766e-03 -9.99965248e-01 7.10554084e-06 2.44142248e+02] [ 9.96393501e-01 -8.30760978e-03 -8.44450987e-02 1.96719759e+02] [ 8.44422231e-02 -6.96920942e-04 9.96428134e-01 2.89422882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33710568099997 meters Centerline goodness : 0.993970 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:196.78, Z:28.94 [[ 2.80713409e-03 -9.99996038e-01 -2.08706873e-04 2.44142958e+02] [ 9.96424203e-01 2.81473166e-03 -8.44445672e-02 1.96777666e+02] [ 8.44448201e-02 2.90866443e-05 9.96428157e-01 2.89447802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39710568099997 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:196.83, Z:28.94 [[ 1.82246780e-02 -9.99833901e-01 -1.78820089e-04 2.44152729e+02] [ 9.96262408e-01 1.81746808e-02 -8.44446306e-02 1.96834604e+02] [ 8.44338544e-02 1.36082447e-03 9.96428157e-01 2.89423003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.457105681 meters Centerline goodness : 0.993896 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:196.89, Z:28.94 [[ 2.13994204e-02 -9.99770996e-01 -1.45127428e-04 2.44160887e+02] [ 9.96199730e-01 2.13352379e-02 -8.44446885e-02 1.96892635e+02] [ 8.44284466e-02 1.66249149e-03 9.96428158e-01 2.89444513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.517105681 meters Centerline goodness : 0.993702 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:196.95, Z:28.95 [[ 2.11169019e-02 -9.99777007e-01 -1.09464602e-04 2.44173915e+02] [ 9.96205779e-01 2.10507176e-02 -8.44447348e-02 1.96950815e+02] [ 8.44282086e-02 1.67416191e-03 9.96428158e-01 2.89450911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.577105681 meters Centerline goodness : 0.993925 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:197.01, Z:28.95 [[ 1.05254868e-02 -9.99944603e-01 -7.72234138e-05 2.44185843e+02] [ 9.96372897e-01 1.04944123e-02 -8.44447643e-02 1.97008605e+02] [ 8.44408967e-02 8.11878939e-04 9.96428159e-01 2.89469235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.637105681 meters Centerline goodness : 0.995252 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:197.07, Z:28.95 [[-2.81905390e-03 -9.99996025e-01 -4.49505146e-05 2.44202959e+02] [ 9.96424212e-01 -2.80518887e-03 -8.44447816e-02 1.97067011e+02] [ 8.44443198e-02 -2.82844172e-04 9.96428159e-01 2.89486469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.697105681 meters Centerline goodness : 0.996172 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:197.12, Z:28.96 [[-1.23160314e-02 -9.99924155e-01 -1.33104757e-05 2.44213729e+02] [ 9.96352600e-01 -1.22709166e-02 -8.44447866e-02 1.97124297e+02] [ 8.44382185e-02 -1.05328657e-03 9.96428160e-01 2.89609706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.757105681 meters Centerline goodness : 0.996846 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:197.03, Z:28.96 [[-2.40770495e-02 -9.99710106e-01 1.62436947e-05 2.44225671e+02] [ 9.96139269e-01 -2.39924214e-02 -8.44447809e-02 1.97030014e+02] [ 8.44206906e-02 -2.01700019e-03 9.96428160e-01 2.89557699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.817105681 meters Centerline goodness : 0.996731 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:197.09, Z:28.97 [[-3.39844685e-02 -9.99422360e-01 -5.10281822e-05 2.44235322e+02] [ 9.95852735e-01 -3.38587750e-02 -8.44447405e-02 1.97087165e+02] [ 8.43942341e-02 -2.92062618e-03 9.96428163e-01 2.89668937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.877105681 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:197.14, Z:28.97 [[-3.72663173e-02 -9.99305369e-01 -1.90323383e-05 2.44244432e+02] [ 9.95736074e-01 -3.71316020e-02 -8.44447477e-02 1.97144430e+02] [ 8.43853831e-02 -3.16589595e-03 9.96428163e-01 2.89653040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:197.16, Z:28.96 [[-4.10691922e-02 -9.99156305e-01 5.54145022e-06 2.44246611e+02] [ 9.95587463e-01 -4.09229673e-02 -8.44447461e-02 1.97155401e+02] [ 8.43737273e-02 -3.46256051e-03 9.96428163e-01 2.89629962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters Centerline goodness : 0.997703 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:197.21, Z:28.97 [[-4.84428891e-02 -9.98825954e-01 -2.34205107e-05 2.44244796e+02] [ 9.95258407e-01 -4.82678837e-02 -8.44447381e-02 1.97212988e+02] [ 8.43444657e-02 -4.11405655e-03 9.96428164e-01 2.89717384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:197.05, Z:28.95 [[-4.29345423e-02 -9.99077887e-01 6.39934518e-06 2.44241305e+02] [ 9.95509322e-01 -4.27817270e-02 -8.44447359e-02 1.97053291e+02] [ 8.43671421e-02 -3.61922548e-03 9.96428164e-01 2.89490364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters Centerline goodness : 0.997496 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:197.11, Z:28.96 [[-4.84591978e-02 -9.98825162e-01 -3.53443282e-05 2.44234002e+02] [ 9.95257670e-01 -4.82831285e-02 -8.44447185e-02 1.97110196e+02] [ 8.43438032e-02 -4.12730003e-03 9.96428165e-01 2.89616401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:197.17, Z:28.97 [[-6.03408457e-02 -9.98177831e-01 -3.93851179e-06 2.44224625e+02] [ 9.94612525e-01 -6.01249862e-02 -8.44447200e-02 1.97166383e+02] [ 8.42906107e-02 -5.09938311e-03 9.96428166e-01 2.89727751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:197.15, Z:28.97 [[-6.58104720e-02 -9.97832141e-01 2.88334258e-05 2.44216879e+02] [ 9.94267891e-01 -6.55778375e-02 -8.44447089e-02 1.97152289e+02] [ 8.42635355e-02 -5.52867800e-03 9.96428166e-01 2.89700466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters Centerline goodness : 0.996553 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:197.21, Z:28.97 [[-6.88579232e-02 -9.97626475e-01 -4.95360764e-05 2.44207727e+02] [ 9.94063413e-01 -6.86078014e-02 -8.44446632e-02 1.97209020e+02] [ 8.42408331e-02 -5.86392613e-03 9.96428169e-01 2.89739704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35710568099995 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:197.27, Z:28.96 [[-6.65406843e-02 -9.97783713e-01 -1.35257969e-05 2.44204633e+02] [ 9.94219875e-01 -6.63018726e-02 -8.44446690e-02 1.97268439e+02] [ 8.42566186e-02 -5.63245368e-03 9.96428170e-01 2.89640843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41710568099995 meters Centerline goodness : 0.996795 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:197.27, Z:28.97 [[-7.15521487e-02 -9.97436860e-01 1.96071594e-05 2.44187105e+02] [ 9.93874067e-01 -7.12982281e-02 -8.44446614e-02 1.97273558e+02] [ 8.42296158e-02 -6.02270992e-03 9.96428170e-01 2.89740476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47710568099995 meters Centerline goodness : 0.996129 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:197.33, Z:28.97 [[-6.95373581e-02 -9.97579348e-01 -7.42355604e-06 2.44176169e+02] [ 9.94016209e-01 -6.92883571e-02 -8.44446590e-02 1.97331068e+02] [ 8.42397335e-02 -5.87943762e-03 9.96428171e-01 2.89737011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53710568099996 meters Centerline goodness : 0.995272 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:197.34, Z:28.98 [[-6.30367913e-02 -9.98011204e-01 2.55099953e-05 2.44160325e+02] [ 9.94446343e-01 -6.28137846e-02 -8.44446491e-02 1.97336507e+02] [ 8.42783083e-02 -5.29775140e-03 9.96428171e-01 2.89777096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59710568099996 meters Centerline goodness : 0.994627 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:197.40, Z:28.97 [[-5.40061202e-02 -9.98540604e-01 -2.73130587e-05 2.44146343e+02] [ 9.94974115e-01 -5.38109166e-02 -8.44446321e-02 1.97395221e+02] [ 8.43199243e-02 -4.58770274e-03 9.96428173e-01 2.89746309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65710568099996 meters Centerline goodness : 0.994275 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:197.40, Z:28.98 [[-3.63225306e-02 -9.99340119e-01 2.44128044e-06 2.44136791e+02] [ 9.95770642e-01 -3.61929988e-02 -8.44446313e-02 1.97397080e+02] [ 8.43889963e-02 -3.06481175e-03 9.96428173e-01 2.89756247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71710568099996 meters Centerline goodness : 0.993302 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:197.45, Z:28.99 [[-1.63459199e-02 -9.99866396e-01 -4.40165551e-05 2.44120026e+02] [ 9.96295110e-01 -1.62838187e-02 -8.44446072e-02 1.97453484e+02] [ 8.44326083e-02 -1.42417827e-03 9.96428174e-01 2.89862634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77710568099997 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:197.51, Z:28.99 [[-1.05972281e-02 -9.99943848e-01 -1.35849595e-05 2.44118863e+02] [ 9.96372235e-01 -1.05582295e-02 -8.44446121e-02 1.97511116e+02] [ 8.44397269e-02 -9.08414490e-04 9.96428175e-01 2.89918748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83710568099997 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:197.57, Z:29.00 [[ 3.17730605e-02 -9.99495109e-01 5.92194066e-06 2.44114157e+02] [ 9.95925103e-01 3.16590729e-02 -8.44446108e-02 1.97567691e+02] [ 8.44017880e-02 2.68896154e-03 9.96428175e-01 2.89983318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89710568099997 meters Centerline goodness : 0.993876 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:197.63, Z:29.00 [[ 3.30673325e-02 -9.99448113e-01 -3.16549450e-03 2.44120019e+02] [ 9.95884427e-01 3.32165066e-02 -8.43259849e-02 1.97625774e+02] [ 8.43845932e-02 -3.64031294e-04 9.96433193e-01 2.89979430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.957105681 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:197.68, Z:29.00 [[ 2.80451607e-02 -9.99601761e-01 -3.12848917e-03 2.44123018e+02] [ 9.96038725e-01 2.82091173e-02 -8.43273579e-02 1.97684032e+02] [ 8.43820274e-02 -7.51122066e-04 9.96433194e-01 2.90022350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.017105681 meters Centerline goodness : 0.993978 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:197.74, Z:29.00 [[ 1.53080131e-02 -9.99878043e-01 -3.09239428e-03 2.44124462e+02] [ 9.96317208e-01 1.55143065e-02 -8.43286815e-02 1.97741034e+02] [ 8.43663735e-02 -1.79010108e-03 9.96433194e-01 2.90038937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.077105681 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:197.80, Z:29.01 [[ 7.63532482e-04 -9.99994998e-01 -3.06951721e-03 2.44134888e+02] [ 9.96437401e-01 1.01966832e-03 -8.43295143e-02 1.97798740e+02] [ 8.43322223e-02 -2.99419343e-03 9.96433195e-01 2.90060455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.137105681 meters Centerline goodness : 0.994174 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:197.86, Z:29.01 [[-1.86578872e-02 -9.99821317e-01 -3.03608544e-03 2.44141941e+02] [ 9.96269110e-01 -1.83355177e-02 -8.43307179e-02 1.97856110e+02] [ 8.42599812e-02 -4.59819116e-03 9.96433195e-01 2.90089499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.197105681 meters Centerline goodness : 0.994993 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:197.91, Z:29.02 [[-2.58691392e-02 -9.99660828e-01 -3.00285421e-03 2.44145343e+02] [ 9.96110766e-01 -2.55239487e-02 -8.43319013e-02 1.97912303e+02] [ 8.42266535e-02 -5.17276910e-03 9.96433196e-01 2.90171678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.257105681 meters Centerline goodness : 0.994988 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:197.97, Z:29.03 [[-2.31647787e-02 -9.99727240e-01 -2.97310028e-03 2.44149960e+02] [ 9.96176022e-01 -2.28316943e-02 -8.43329503e-02 1.97967116e+02] [ 8.42420667e-02 -4.91528534e-03 9.96433196e-01 2.90324633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.317105681 meters Centerline goodness : 0.995194 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:198.03, Z:29.04 [[-2.06589405e-02 -9.99782275e-01 -2.93432623e-03 2.44143923e+02] [ 9.96229939e-01 -2.03380188e-02 -8.43342994e-02 1.98025434e+02] [ 8.42562594e-02 -4.66552091e-03 9.96433197e-01 2.90376310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.377105681 meters Centerline goodness : 0.995202 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:198.08, Z:29.04 [[-2.17752480e-02 -9.99758692e-01 -2.89757505e-03 2.44140169e+02] [ 9.96206436e-01 -2.14534504e-02 -8.43355622e-02 1.98081789e+02] [ 8.42530484e-02 -4.72301069e-03 9.96433197e-01 2.90416223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters Centerline goodness : 0.994531 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:198.14, Z:29.05 [[-2.50164647e-02 -9.99682953e-01 -2.85820239e-03 2.44133017e+02] [ 9.96131450e-01 -2.46864621e-02 -8.43368966e-02 1.98138878e+02] [ 8.42395989e-02 -4.95695629e-03 9.96433198e-01 2.90503096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters Centerline goodness : 0.994165 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:198.20, Z:29.06 [[-2.22623634e-02 -9.99748190e-01 -2.81842096e-03 2.44119926e+02] [ 9.96195492e-01 -2.19454916e-02 -8.43382261e-02 1.98195385e+02] [ 8.42551372e-02 -4.68526649e-03 9.96433199e-01 2.90585524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters Centerline goodness : 0.994676 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:198.25, Z:29.06 [[-1.31143693e-02 -9.99910137e-01 -2.78052867e-03 2.44107867e+02] [ 9.96354436e-01 -1.28332049e-02 -8.43394754e-02 1.98252226e+02] [ 8.42962133e-02 -3.87645111e-03 9.96433200e-01 2.90625432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters Centerline goodness : 0.995244 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:198.31, Z:29.07 [[ 2.29769308e-03 -9.99993599e-01 -2.74286461e-03 2.44099540e+02] [ 9.96433787e-01 2.52085028e-03 -8.43407003e-02 1.98309861e+02] [ 8.43470748e-02 -2.53929393e-03 9.96433200e-01 2.90689839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters Centerline goodness : 0.996607 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:198.37, Z:29.07 [[ 1.77695315e-02 -9.99838429e-01 -2.71278402e-03 2.44091939e+02] [ 9.96275473e-01 1.79350469e-02 -8.43416679e-02 1.98368172e+02] [ 8.43766946e-02 -1.20396826e-03 9.96433201e-01 2.90725816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters Centerline goodness : 0.996394 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:198.42, Z:29.08 [[ 2.88551090e-02 -9.99580011e-01 -2.68046504e-03 2.44088873e+02] [ 9.96015343e-01 2.89783796e-02 -8.43426950e-02 1.98424257e+02] [ 8.43849475e-02 -2.36066648e-04 9.96433201e-01 2.90833751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters Centerline goodness : 0.997103 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:198.48, Z:29.08 [[ 2.61282569e-02 -9.99655081e-01 -2.65194948e-03 2.44089133e+02] [ 9.96090674e-01 2.62588451e-02 -8.43435917e-02 1.98482590e+02] [ 8.43841371e-02 -4.37831115e-04 9.96433202e-01 2.90815539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85710568099995 meters Centerline goodness : 0.996123 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:198.54, Z:29.10 [[ 2.09493169e-02 -9.99777107e-01 -2.61965080e-03 2.44097841e+02] [ 9.96213312e-01 2.10956439e-02 -8.43445949e-02 1.98539698e+02] [ 8.43810583e-02 -8.42769353e-04 9.96433202e-01 2.90957946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91710568099995 meters Centerline goodness : 0.996258 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:198.60, Z:29.10 [[ 1.78335376e-02 -9.99837619e-01 -2.58839242e-03 2.44102176e+02] [ 9.96274183e-01 1.79883335e-02 -8.43455542e-02 1.98596690e+02] [ 8.43784189e-02 -1.07456893e-03 9.96433203e-01 2.90981743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97710568099995 meters Centerline goodness : 0.995724 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:198.65, Z:29.11 [[ 3.26382043e-02 -9.99463977e-01 -2.55072063e-03 2.44112311e+02] [ 9.95898550e-01 3.27370329e-02 -8.43466935e-02 1.98654018e+02] [ 8.43849847e-02 2.12665634e-04 9.96433204e-01 2.91050902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03710568099996 meters Centerline goodness : 0.995810 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:198.71, Z:29.10 [[ 4.92089707e-02 -9.98785333e-01 -2.51716450e-03 2.44118937e+02] [ 9.95218727e-01 4.92458235e-02 -8.43476949e-02 1.98711489e+02] [ 8.43692004e-02 1.64553401e-03 9.96433204e-01 2.91039328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09710568099996 meters Centerline goodness : 0.995494 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:198.77, Z:29.10 [[ 6.13284238e-02 -9.98114560e-01 -2.47994454e-03 2.44136315e+02] [ 9.94547777e-01 6.13188409e-02 -8.43487893e-02 1.98768905e+02] [ 8.43418220e-02 2.70655496e-03 9.96433205e-01 2.90999318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15710568099996 meters Centerline goodness : 0.994663 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:198.83, Z:29.11 [[ 6.00405381e-02 -9.98192948e-01 -2.44399394e-03 2.44154961e+02] [ 9.94626162e-01 6.00325224e-02 -8.43498310e-02 1.98825859e+02] [ 8.43441255e-02 2.63354893e-03 9.96433205e-01 2.91084116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21710568099996 meters Centerline goodness : 0.994804 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:198.88, Z:29.10 [[ 5.57163475e-02 -9.98443726e-01 -2.41143505e-03 2.44181175e+02] [ 9.94876935e-01 5.57210327e-02 -8.43507618e-02 1.98883988e+02] [ 8.43538566e-02 2.30063525e-03 9.96433206e-01 2.91023339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27710568099997 meters Centerline goodness : 0.994919 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:198.94, Z:29.11 [[ 5.08602595e-02 -9.98702951e-01 -2.37679973e-03 2.44196444e+02] [ 9.95136209e-01 5.08793661e-02 -8.43517378e-02 1.98939856e+02] [ 8.43632595e-02 1.92491180e-03 9.96433207e-01 2.91097349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33710568099997 meters Centerline goodness : 0.996248 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:199.00, Z:29.11 [[ 4.89079247e-02 -9.98800537e-01 -2.34584455e-03 2.44216725e+02] [ 9.95233821e-01 4.89313903e-02 -8.43525987e-02 1.98996662e+02] [ 8.43662063e-02 1.79084671e-03 9.96433207e-01 2.91137853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39710568099997 meters Centerline goodness : 0.996903 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:199.05, Z:29.12 [[ 4.38847243e-02 -9.99033922e-01 -2.31380283e-03 2.44233293e+02] [ 9.95467339e-01 4.39234205e-02 -8.43534776e-02 1.99053411e+02] [ 8.43736157e-02 1.39851396e-03 9.96433208e-01 2.91237696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.457105681 meters Centerline goodness : 0.997562 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:199.11, Z:29.13 [[ 3.35154493e-02 -9.99435595e-01 -2.28190721e-03 2.44248166e+02] [ 9.95869550e-01 3.35884617e-02 -8.43543405e-02 1.99110046e+02] [ 8.43833762e-02 5.54691716e-04 9.96433208e-01 2.91301733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.517105681 meters Centerline goodness : 0.997976 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:199.17, Z:29.14 [[ 2.32612727e-02 -9.99726891e-01 -2.24860606e-03 2.44265992e+02] [ 9.96161699e-01 2.33680526e-02 -8.43552282e-02 1.99166990e+02] [ 8.43847356e-02 -2.77765265e-04 9.96433209e-01 2.91390609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.577105681 meters Centerline goodness : 0.998058 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:199.22, Z:29.15 [[ 2.60113044e-02 -9.99659192e-01 -2.21640959e-03 2.44277879e+02] [ 9.96093646e-01 2.61055596e-02 -8.43560742e-02 1.99224343e+02] [ 8.43851856e-02 -1.35399879e-05 9.96433209e-01 2.91450928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.637105681 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:199.28, Z:29.15 [[ 3.83083008e-02 -9.99263582e-01 -2.18362839e-03 2.44290345e+02] [ 9.95697109e-01 3.83559146e-02 -8.43569228e-02 1.99280979e+02] [ 8.43785559e-02 1.05733790e-03 9.96433210e-01 2.91505214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.697105681 meters Centerline goodness : 0.998054 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:199.34, Z:29.16 [[ 5.04965960e-02 -9.98721920e-01 -2.14930169e-03 2.44299635e+02] [ 9.95155131e-01 5.04977971e-02 -8.43577975e-02 1.99336679e+02] [ 8.43585165e-02 2.12089301e-03 9.96433210e-01 2.91590482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.757105681 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:199.39, Z:29.16 [[ 5.69608805e-02 -9.98374148e-01 -2.12593224e-03 2.44308654e+02] [ 9.94807438e-01 5.69370190e-02 -8.43583864e-02 1.99394295e+02] [ 8.43422764e-02 2.69023476e-03 9.96433211e-01 2.91618939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.817105681 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:199.45, Z:29.16 [[ 5.49256134e-02 -9.98488253e-01 -2.09402430e-03 2.44322016e+02] [ 9.94921517e-01 5.49063292e-02 -8.43591785e-02 1.99451570e+02] [ 8.43466240e-02 2.55008980e-03 9.96433211e-01 2.91550173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.877105681 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:199.51, Z:29.17 [[ 4.61234065e-02 -9.98933620e-01 -2.06270081e-03 2.44332080e+02] [ 9.95366844e-01 4.61329141e-02 -8.43599445e-02 1.99508336e+02] [ 8.43651431e-02 1.83782402e-03 9.96433212e-01 2.91677587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:199.57, Z:29.17 [[ 3.38464627e-02 -9.99424983e-01 -2.02985783e-03 2.44348281e+02] [ 9.95858553e-01 3.38970211e-02 -8.43607348e-02 1.99565139e+02] [ 8.43810320e-02 8.33861183e-04 9.96433212e-01 2.91727667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:199.62, Z:29.18 [[ 2.39812551e-02 -9.99710419e-01 -1.99414069e-03 2.44363830e+02] [ 9.96144592e-01 2.40639949e-02 -8.43615791e-02 1.99621193e+02] [ 8.43851366e-02 3.66440906e-05 9.96433213e-01 2.91762632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:199.68, Z:29.18 [[ 1.26963204e-02 -9.99917482e-01 -1.95750016e-03 2.44376091e+02] [ 9.96352711e-01 1.28162103e-02 -8.43624293e-02 1.99677880e+02] [ 8.43805557e-02 -8.79268155e-04 9.96433213e-01 2.91800658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:199.73, Z:29.18 [[-4.19931056e-03 -9.99989333e-01 -1.92357955e-03 2.44387432e+02] [ 9.96426953e-01 -4.02206980e-03 -8.43632028e-02 1.99733316e+02] [ 8.43545661e-02 -2.27097380e-03 9.96433214e-01 2.91825156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:199.79, Z:29.18 [[-2.36594913e-02 -9.99718291e-01 -1.88846594e-03 2.44395625e+02] [ 9.96159833e-01 -2.34159129e-02 -8.43639889e-02 1.99789432e+02] [ 8.42960027e-02 -3.87722298e-03 9.96433215e-01 2.91825172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:199.85, Z:29.19 [[-3.34768516e-02 -9.99437773e-01 -1.85433126e-03 2.44394737e+02] [ 9.95881655e-01 -3.32012088e-02 -8.43647392e-02 1.99845976e+02] [ 8.42557410e-02 -4.67096034e-03 9.96433215e-01 2.91869757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:199.90, Z:29.21 [[-3.53370176e-02 -9.99373791e-01 -1.82229501e-03 2.44382018e+02] [ 9.95817980e-01 -3.50574520e-02 -8.43654312e-02 1.99902507e+02] [ 8.42487158e-02 -4.79589686e-03 9.96433216e-01 2.92067443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35710568099995 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:199.96, Z:29.21 [[-2.75680487e-02 -9.99618327e-01 -1.78948806e-03 2.44367625e+02] [ 9.96060257e-01 -2.73188924e-02 -8.43661272e-02 1.99960450e+02] [ 8.42850401e-02 -4.10824744e-03 9.96433216e-01 2.92102862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41710568099995 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:200.02, Z:29.21 [[-2.01860838e-02 -9.99794681e-01 -1.76573941e-03 2.44355396e+02] [ 9.96234743e-01 -1.99652078e-02 -8.43666242e-02 2.00017411e+02] [ 8.43140488e-02 -3.46212270e-03 9.96433216e-01 2.92149249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47710568099995 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:200.08, Z:29.20 [[-2.84429802e-02 -9.99593924e-01 -1.72716405e-03 2.44337900e+02] [ 9.96035706e-01 -2.81959572e-02 -8.43674140e-02 2.00076878e+02] [ 8.42844554e-02 -4.11997775e-03 9.96433217e-01 2.91985625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53710568099996 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:200.13, Z:29.22 [[-9.90920158e-03 -9.99949479e-01 -1.68722199e-03 2.44332182e+02] [ 9.96387124e-01 -9.73154460e-03 -8.43682128e-02 2.00131624e+02] [ 8.43475312e-02 -2.51714789e-03 9.96433218e-01 2.92189481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59710568099996 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:200.19, Z:29.23 [[ 7.25236466e-03 -9.99972352e-01 -1.64240563e-03 2.44321744e+02] [ 9.96407353e-01 7.36508136e-03 -8.43690854e-02 2.00189779e+02] [ 8.43788492e-02 -1.02462968e-03 9.96433219e-01 2.92273399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65710568099996 meters Centerline goodness : 0.997503 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:200.25, Z:29.22 [[ 2.22450004e-02 -9.99751251e-01 -1.61151181e-03 2.44313733e+02] [ 9.96184920e-01 2.23016442e-02 -8.43696755e-02 2.00248973e+02] [ 8.43846279e-02 2.71439702e-04 9.96433220e-01 2.92245094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71710568099996 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:200.31, Z:29.23 [[ 3.55776166e-02 -9.99365666e-01 -1.58079597e-03 2.44312197e+02] [ 9.95798892e-01 3.55840955e-02 -8.43702510e-02 2.00306250e+02] [ 8.43729833e-02 1.42753756e-03 9.96433220e-01 2.92270212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77710568099997 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:200.36, Z:29.22 [[ 4.27513074e-02 -9.99084531e-01 -1.55772293e-03 2.44317627e+02] [ 9.95517813e-01 4.27302324e-02 -8.43706770e-02 2.00364402e+02] [ 8.43600001e-02 2.05621583e-03 9.96433220e-01 2.92249991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83710568099997 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:200.42, Z:29.23 [[ 4.27982641e-02 -9.99082569e-01 -1.52590735e-03 2.44324683e+02] [ 9.95515870e-01 4.27743363e-02 -8.43712525e-02 2.00421763e+02] [ 8.43591174e-02 2.09187816e-03 9.96433221e-01 2.92345466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89710568099997 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:200.48, Z:29.25 [[ 4.09633165e-02 -9.99159537e-01 -1.49191473e-03 2.44332258e+02] [ 9.95592816e-01 4.09430704e-02 -8.43718536e-02 2.00478739e+02] [ 8.43620258e-02 1.97081136e-03 9.96433221e-01 2.92465618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.957105681 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:200.53, Z:29.25 [[ 3.79373075e-02 -9.99279056e-01 -1.45940607e-03 2.44351385e+02] [ 9.95712298e-01 3.79251192e-02 -8.43724160e-02 2.00534610e+02] [ 8.43669363e-02 1.74771372e-03 9.96433222e-01 2.92510888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.017105681 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:200.59, Z:29.25 [[ 2.69560371e-02 -9.99635611e-01 -1.42061419e-03 2.44362782e+02] [ 9.96068912e-01 2.69797633e-02 -8.43730692e-02 2.00591309e+02] [ 8.43806524e-02 8.59333956e-04 9.96433223e-01 2.92537634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.077105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:200.65, Z:29.26 [[ 1.61598084e-02 -9.99868468e-01 -1.38084720e-03 2.44373863e+02] [ 9.96302178e-01 1.62186928e-02 -8.43737201e-02 2.00647673e+02] [ 8.43850178e-02 -1.22779249e-05 9.96433223e-01 2.92586998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.137105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:200.71, Z:29.26 [[ 9.34983615e-03 -9.99955384e-01 -1.34541588e-03 2.44390067e+02] [ 9.96389510e-01 9.43001789e-03 -8.43742851e-02 2.00705058e+02] [ 8.43832080e-02 -5.51672531e-04 9.96433224e-01 2.92637942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.197105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:200.76, Z:29.27 [[ 1.37224743e-02 -9.99904980e-01 -1.31309488e-03 2.44397640e+02] [ 9.96338741e-01 1.37843346e-02 -8.43747882e-02 2.00760923e+02] [ 8.43848710e-02 -1.50456443e-04 9.96433225e-01 2.92681514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.257105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:200.82, Z:29.27 [[ 2.97217482e-02 -9.99557397e-01 -1.27554722e-03 2.44408339e+02] [ 9.95990623e-01 2.97233629e-02 -8.43753558e-02 2.00819398e+02] [ 8.43759246e-02 1.23735000e-03 9.96433225e-01 2.92697940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.317105681 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:200.88, Z:29.28 [[ 4.06267675e-02 -9.99173601e-01 -1.25724623e-03 2.44417883e+02] [ 9.95607038e-01 4.05879184e-02 -8.43756286e-02 2.00876525e+02] [ 8.43569296e-02 2.17618585e-03 9.96433225e-01 2.92845371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.377105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:200.93, Z:29.29 [[ 4.77837202e-02 -9.98856956e-01 -1.22377687e-03 2.44426929e+02] [ 9.95290815e-01 4.77164974e-02 -8.43761140e-02 2.00932935e+02] [ 8.43380628e-02 2.81379074e-03 9.96433226e-01 2.92896341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:200.99, Z:29.29 [[ 5.71577826e-02 -9.98364451e-01 -1.18798928e-03 2.44443756e+02] [ 9.94799186e-01 5.70540688e-02 -8.43766180e-02 2.00989406e+02] [ 8.43063955e-02 3.64096962e-03 9.96433227e-01 2.92915549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:201.05, Z:29.29 [[ 4.68370252e-02 -9.98901880e-01 -1.15240552e-03 2.44459818e+02] [ 9.95335791e-01 4.67671601e-02 -8.43771040e-02 2.01046598e+02] [ 8.43383425e-02 2.80494209e-03 9.96433227e-01 2.92921559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:201.10, Z:29.29 [[ 2.52135635e-02 -9.99681464e-01 -1.11656588e-03 2.44466581e+02] [ 9.96114694e-01 2.52178470e-02 -8.43775783e-02 2.01104898e+02] [ 8.43788584e-02 1.01523175e-03 9.96433228e-01 2.92862344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:201.16, Z:29.30 [[ 2.24471596e-02 -9.99747448e-01 -1.07992962e-03 2.44486496e+02] [ 9.96180693e-01 2.24582212e-02 -8.43780473e-02 2.01160680e+02] [ 8.43809907e-02 8.18242455e-04 9.96433229e-01 2.92990225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:201.22, Z:29.30 [[ 1.07422753e-02 -9.99941744e-01 -1.05480609e-03 2.44497041e+02] [ 9.96375333e-01 1.07929697e-02 -8.43783614e-02 2.01216657e+02] [ 8.43848303e-02 -1.44567179e-04 9.96433229e-01 2.93041933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:201.28, Z:29.29 [[ 8.16019158e-03 -9.99966186e-01 -1.01890808e-03 2.44508338e+02] [ 9.96399869e-01 8.21706591e-03 -8.43787949e-02 2.01275534e+02] [ 8.43843142e-02 -3.26692743e-04 9.96433229e-01 2.92913231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:201.33, Z:29.30 [[-3.92002132e-03 -9.99991834e-01 -9.82212200e-04 2.44514628e+02] [ 9.96426380e-01 -3.82316556e-03 -8.43792221e-02 2.01333354e+02] [ 8.43747780e-02 -1.30947050e-03 9.96433230e-01 2.92985275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85710568099995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:201.39, Z:29.33 [[-2.26059524e-02 -9.99744003e-01 -9.48674506e-04 2.44503456e+02] [ 9.96180853e-01 -2.24453140e-02 -8.43795992e-02 2.01387765e+02] [ 8.43367050e-02 -2.85253258e-03 9.96433231e-01 2.93277830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91710568099995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:201.45, Z:29.32 [[-2.38293101e-02 -9.99715617e-01 -9.21086170e-04 2.44498805e+02] [ 9.96152560e-01 -2.36666375e-02 -8.43799004e-02 2.01446692e+02] [ 8.43341052e-02 -2.92825716e-03 9.96433231e-01 2.93233199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:201.51, Z:29.31 [[-2.88845147e-02 -9.99582361e-01 -8.87776896e-04 2.44480962e+02] [ 9.96020031e-01 -2.87066334e-02 -8.43802509e-02 2.01506386e+02] [ 8.43195254e-02 -3.32152617e-03 9.96433232e-01 2.93120125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:201.56, Z:29.34 [[-7.98885279e-03 -9.99967723e-01 -8.54758726e-04 2.44480473e+02] [ 9.96402375e-01 -7.88824146e-03 -8.43805854e-02 2.01561986e+02] [ 8.43711194e-02 -1.52578770e-03 9.96433232e-01 2.93364996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:201.62, Z:29.34 [[-5.15479387e-03 -9.99986376e-01 -8.22425109e-04 2.44472190e+02] [ 9.96420689e-01 -5.06701532e-03 -8.43809006e-02 2.01618381e+02] [ 8.43755838e-02 -1.25444754e-03 9.96433233e-01 2.93406399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:201.68, Z:29.35 [[-1.18937970e-02 -9.99928958e-01 -7.84874827e-04 2.44469780e+02] [ 9.96363847e-01 -1.17851578e-02 -8.43812500e-02 2.01676268e+02] [ 8.43660055e-02 -1.78563436e-03 9.96433233e-01 2.93485885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:201.73, Z:29.35 [[-2.13441797e-02 -9.99771904e-01 -7.52039674e-04 2.44468801e+02] [ 9.96207870e-01 -2.12046182e-02 -8.43815426e-02 2.01734196e+02] [ 8.43463489e-02 -2.55024265e-03 9.96433234e-01 2.93468627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:201.79, Z:29.35 [[-3.00363758e-02 -9.99548548e-01 -7.19132808e-04 2.44461946e+02] [ 9.95985730e-01 -2.98686042e-02 -8.43818231e-02 2.01791731e+02] [ 8.43222493e-02 -3.25077016e-03 9.96433234e-01 2.93478535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:201.85, Z:29.35 [[-3.24915520e-02 -9.99471774e-01 -6.86434894e-04 2.44451894e+02] [ 9.95909245e-01 -3.23177853e-02 -8.43820892e-02 2.01848904e+02] [ 8.43153323e-02 -3.42533189e-03 9.96433235e-01 2.93491754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:201.90, Z:29.36 [[-2.94572759e-02 -9.99565828e-01 -6.51679167e-04 2.44442547e+02] [ 9.96002655e-01 -2.92972549e-02 -8.43823576e-02 2.01904670e+02] [ 8.43266288e-02 -3.13474857e-03 9.96433236e-01 2.93581148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.457105681 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:201.96, Z:29.36 [[-2.28803098e-02 -9.99738022e-01 -6.16022646e-04 2.44429896e+02] [ 9.96173760e-01 -2.27467418e-02 -8.43826180e-02 2.01960587e+02] [ 8.43464991e-02 -2.54436604e-03 9.96433236e-01 2.93627087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.517105681 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:202.02, Z:29.37 [[-1.93879119e-02 -9.99811869e-01 -5.80051341e-04 2.44413882e+02] [ 9.96247061e-01 -1.92698291e-02 -8.43828653e-02 2.02017183e+02] [ 8.43558128e-02 -2.21388200e-03 9.96433237e-01 2.93729973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.577105681 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:202.07, Z:29.38 [[-2.00854336e-02 -9.99798119e-01 -5.44664344e-04 2.44405555e+02] [ 9.96233295e-01 -1.99678484e-02 -8.43830938e-02 2.02073433e+02] [ 8.43551827e-02 -2.23748378e-03 9.96433238e-01 2.93848581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.637105681 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:202.13, Z:29.39 [[-1.34140405e-02 -9.99909900e-01 -5.05775985e-04 2.44396956e+02] [ 9.96344287e-01 -1.33235240e-02 -8.43833269e-02 2.02129130e+02] [ 8.43689853e-02 -1.63584838e-03 9.96433238e-01 2.93938718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.697105681 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:202.19, Z:29.40 [[ 1.05394153e-03 -9.99999335e-01 -4.68431571e-04 2.44383362e+02] [ 9.96432753e-01 1.08971050e-03 -8.43835343e-02 2.02185805e+02] [ 8.43839886e-02 -3.77825248e-04 9.96433239e-01 2.93971914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.757105681 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:202.24, Z:29.39 [[ 1.72289694e-02 -9.99851478e-01 -4.30417554e-04 2.44375546e+02] [ 9.96284806e-01 1.72038358e-02 -8.43837283e-02 2.02243170e+02] [ 8.43786002e-02 1.02502620e-03 9.96433240e-01 2.93944722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.817105681 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:202.30, Z:29.40 [[ 2.52761686e-02 -9.99680429e-01 -3.93541391e-04 2.44372830e+02] [ 9.96114124e-01 2.52192165e-02 -8.43839003e-02 2.02299867e+02] [ 8.43668585e-02 1.74088956e-03 9.96433240e-01 2.93956798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.877105681 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:202.36, Z:29.39 [[ 2.24770429e-02 -9.99747295e-01 -3.60100726e-04 2.44374698e+02] [ 9.96180883e-01 2.24272547e-02 -8.43840430e-02 2.02357357e+02] [ 8.43707948e-02 1.53797830e-03 9.96433241e-01 2.93892694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:202.41, Z:29.40 [[ 1.35771280e-02 -9.99907775e-01 -3.22629549e-04 2.44378870e+02] [ 9.96341079e-01 1.35559254e-02 -8.43841864e-02 2.02413058e+02] [ 8.43807775e-02 8.24245825e-04 9.96433242e-01 2.93993906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:202.47, Z:29.40 [[ 6.83365109e-03 -9.99976610e-01 -2.84176538e-04 2.44390604e+02] [ 9.96409852e-01 6.83325714e-03 -8.43843159e-02 2.02470714e+02] [ 8.43842840e-02 2.93496670e-04 9.96433242e-01 2.94013788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:202.53, Z:29.41 [[-4.36587328e-03 -9.99990439e-01 -2.45122069e-04 2.44400479e+02] [ 9.96423867e-01 -4.32961724e-03 -8.43844294e-02 2.02526392e+02] [ 8.43825614e-02 -6.12657205e-04 9.96433243e-01 2.94092429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:202.58, Z:29.42 [[-9.57435078e-03 -9.99954145e-01 -2.00562818e-04 2.44406094e+02] [ 9.96387755e-01 -9.52327817e-03 -8.43845354e-02 2.02582018e+02] [ 8.43787559e-02 -1.00776548e-03 9.96433244e-01 2.94157071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:202.64, Z:29.42 [[-2.46429273e-02 -9.99696302e-01 -1.74452020e-04 2.44417503e+02] [ 9.96131023e-01 -2.45403162e-02 -8.43845894e-02 2.02638427e+02] [ 8.43546809e-02 -2.25326038e-03 9.96433244e-01 2.94218444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:202.69, Z:29.43 [[-3.48165502e-02 -9.99393711e-01 -1.38138665e-04 2.44424679e+02] [ 9.95829543e-01 -3.46807190e-02 -8.43846489e-02 2.02693717e+02] [ 8.43286967e-02 -3.07554493e-03 9.96433245e-01 2.94333438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:202.75, Z:29.44 [[-4.85181082e-02 -9.98822298e-01 -1.02448265e-04 2.44428360e+02] [ 9.95260174e-01 -4.83364216e-02 -8.43846923e-02 2.02750794e+02] [ 8.42803603e-02 -4.19614831e-03 9.96433246e-01 2.94355120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:202.81, Z:29.45 [[-4.92624932e-02 -9.98785864e-01 -6.43182992e-05 2.44428904e+02] [ 9.95223713e-01 -4.90813653e-02 -8.43847215e-02 2.02807421e+02] [ 8.42791101e-02 -4.22101286e-03 9.96433246e-01 2.94472930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41710568099995 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:202.87, Z:29.43 [[-3.02115164e-02 -9.99543527e-01 -3.06954192e-05 2.44425210e+02] [ 9.95978482e-01 -3.01011704e-02 -8.43847337e-02 2.02865150e+02] [ 8.43452905e-02 -2.57996275e-03 9.96433247e-01 2.94325628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47710568099995 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.21, Z:29.48 [[-1.63009457e-02 -9.99867131e-01 9.23466211e-06 2.44409614e+02] [ 9.96300840e-01 -1.62435834e-02 -8.43847294e-02 2.03213031e+02] [ 8.43736673e-02 -1.36635039e-03 9.96433248e-01 2.94792382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53710568099996 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:202.99, Z:29.45 [[ 8.12138435e-04 -9.99999667e-01 8.11756808e-05 2.44397869e+02] [ 9.96432931e-01 8.02391769e-04 -8.43846604e-02 2.02988378e+02] [ 8.43845672e-02 1.49418148e-04 9.96433250e-01 2.94513724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59710568099996 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:203.04, Z:29.46 [[ 1.25617346e-02 -9.99921098e-01 -6.09163008e-06 2.44393259e+02] [ 9.96354628e-01 1.25174441e-02 -8.43846545e-02 2.03044636e+02] [ 8.43780726e-02 1.05394821e-03 9.96433254e-01 2.94562967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65710568099996 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:203.06, Z:29.46 [[ 1.18545331e-02 -9.99929732e-01 3.18168177e-05 2.44393791e+02] [ 9.96363270e-01 1.18095663e-02 -8.43846402e-02 2.03055009e+02] [ 8.43783350e-02 1.03204162e-03 9.96433255e-01 2.94550800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71710568099996 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:203.11, Z:29.46 [[ 3.74526790e-03 -9.99992982e-01 -9.33761153e-05 2.44393488e+02] [ 9.96426249e-01 3.73978899e-03 -8.43845024e-02 2.03111397e+02] [ 8.43842594e-02 2.23000156e-04 9.96433263e-01 2.94582718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77710568099997 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:203.17, Z:29.47 [[-1.29808350e-03 -9.99999156e-01 -5.19705177e-05 2.44395734e+02] [ 9.96432431e-01 -1.28906807e-03 -8.43845279e-02 2.03167564e+02] [ 8.43843897e-02 -1.61323272e-04 9.96433264e-01 2.94668272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83710568099997 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:203.22, Z:29.47 [[-5.61359035e-03 -9.99984244e-01 -1.25909091e-05 2.44397721e+02] [ 9.96417570e-01 -5.59250569e-03 -8.43845339e-02 2.03224038e+02] [ 8.43831339e-02 -4.86246008e-04 9.96433264e-01 2.94745330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89710568099997 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:202.99, Z:29.45 [[-1.02020708e-02 -9.99947957e-01 2.74204328e-05 2.44403401e+02] [ 9.96381385e-01 -1.01679964e-02 -8.43845209e-02 2.02994379e+02] [ 8.43804081e-02 -8.33575644e-04 9.96433265e-01 2.94486678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.957105681 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:203.05, Z:29.46 [[-2.76399863e-02 -9.99617940e-01 -6.66186723e-05 2.44403819e+02] [ 9.96052732e-01 -2.75357826e-02 -8.43844471e-02 2.03051118e+02] [ 8.43503728e-02 -2.39874067e-03 9.96433270e-01 2.94557069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.017105681 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:203.11, Z:29.43 [[-4.15892037e-02 -9.99134794e-01 -3.05562792e-05 2.44399466e+02] [ 9.95571259e-01 -4.14382900e-02 -8.43844602e-02 2.03111419e+02] [ 8.43101841e-02 -3.53990346e-03 9.96433270e-01 2.94326445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.077105681 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.15, Z:29.46 [[-2.80214936e-02 -9.99607321e-01 7.51761521e-07 2.44410857e+02] [ 9.96041990e-01 -2.79216119e-02 -8.43844599e-02 2.03153987e+02] [ 8.43513449e-02 -2.36382982e-03 9.96433271e-01 2.94589748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.137105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.21, Z:29.46 [[-2.15121551e-02 -9.99768587e-01 -1.59227132e-05 2.44410229e+02] [ 9.96202712e-01 -2.14340837e-02 -8.43844568e-02 2.03211042e+02] [ 8.43645878e-02 -1.83115377e-03 9.96433271e-01 2.94639565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.197105681 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.48, Z:29.49 [[-5.46105655e-03 -9.99985088e-01 1.93741383e-05 2.44409387e+02] [ 9.96418404e-01 -5.44321329e-03 -8.43844488e-02 2.03483102e+02] [ 8.43832959e-02 -4.41523498e-04 9.96433271e-01 2.94943441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.257105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.47, Z:29.50 [[ 1.56348789e-02 -9.99877763e-01 9.75338354e-05 2.44409337e+02] [ 9.96311612e-01 1.55708844e-02 -8.43843587e-02 2.03471534e+02] [ 8.43725251e-02 1.41651332e-03 9.96433275e-01 2.94985316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.317105681 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:203.53, Z:29.51 [[ 2.88581633e-02 -9.99583516e-01 -2.36902474e-05 2.44411057e+02] [ 9.96018226e-01 2.87572326e-02 -8.43843253e-02 2.03529222e+02] [ 8.43498618e-02 2.41158072e-03 9.96433282e-01 2.95085336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.377105681 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:203.27, Z:29.49 [[ 3.40860682e-02 -9.99418901e-01 1.27386803e-05 2.44419764e+02] [ 9.95854293e-01 3.39634185e-02 -8.43843198e-02 2.03271827e+02] [ 8.43348515e-02 2.88901555e-03 9.96433282e-01 2.94884388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:203.33, Z:29.48 [[ 2.50237448e-02 -9.99686850e-01 -1.18395911e-04 2.44438962e+02] [ 9.96121022e-01 2.49444803e-02 -8.43841366e-02 2.03330765e+02] [ 8.43606650e-02 1.99367044e-03 9.96433291e-01 2.94802984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:203.39, Z:29.48 [[ 1.30641281e-02 -9.99914657e-01 -8.57415752e-05 2.44454172e+02] [ 9.96348166e-01 1.30247669e-02 -8.43841698e-02 2.03386780e+02] [ 8.43780849e-02 1.01697714e-03 9.96433292e-01 2.94847952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.44, Z:29.48 [[-5.30011058e-03 -9.99985953e-01 -4.81092990e-05 2.44455602e+02] [ 9.96419319e-01 -5.27714704e-03 -8.43841913e-02 2.03444514e+02] [ 8.43827521e-02 -4.95182580e-04 9.96433292e-01 2.94779554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.50, Z:29.50 [[ 4.34467579e-04 -9.99999906e-01 -1.25043483e-05 2.44470624e+02] [ 9.96433199e-01 4.33973133e-04 -8.43841966e-02 2.03499860e+02] [ 8.43841941e-02 2.42024502e-05 9.96433293e-01 2.94961727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.48, Z:29.47 [[ 7.99901271e-03 -9.99968007e-01 1.36734958e-05 2.44485740e+02] [ 9.96401424e-01 7.96932879e-03 -8.43841924e-02 2.03477972e+02] [ 8.43813838e-02 6.88614518e-04 9.96433293e-01 2.94732104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.48, Z:29.48 [[-7.50342558e-03 -9.99971848e-01 3.57818092e-05 2.44490879e+02] [ 9.96405221e-01 -7.47968240e-03 -8.43841831e-02 2.03482212e+02] [ 8.43820751e-02 -5.97517256e-04 9.96433294e-01 2.94843397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.48, Z:29.49 [[-1.48128683e-02 -9.99890282e-01 5.76286734e-05 2.44498929e+02] [ 9.96323898e-01 -1.47648976e-02 -8.43841682e-02 2.03483809e+02] [ 8.43757606e-02 -1.19255475e-03 9.96433294e-01 2.94878117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.52, Z:29.50 [[-2.34933534e-02 -9.99723990e-01 7.96491383e-05 2.44505938e+02] [ 9.96158117e-01 -2.34162790e-02 -8.43841474e-02 2.03522241e+02] [ 8.43627216e-02 -1.90312346e-03 9.96433294e-01 2.94998237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.55, Z:29.50 [[-2.65475583e-02 -9.99647546e-01 1.02486212e-04 2.44505615e+02] [ 9.96081878e-01 -2.64615164e-02 -8.43841197e-02 2.03552536e+02] [ 8.43570901e-02 -2.13810768e-03 9.96433294e-01 2.95032852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.58, Z:29.50 [[-2.74662473e-02 -9.99622722e-01 1.38953906e-04 2.44504030e+02] [ 9.96057060e-01 -2.73800049e-02 -8.43840597e-02 2.03578236e+02] [ 8.43560280e-02 -2.17930743e-03 9.96433295e-01 2.95030583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.60, Z:29.49 [[-3.75660996e-02 -9.99294120e-01 2.21530520e-04 2.44490241e+02] [ 9.95729283e-01 -3.74507947e-02 -8.43838432e-02 2.03597094e+02] [ 8.43325749e-02 -2.94938743e-03 9.96433298e-01 2.94862057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.56, Z:29.50 [[-2.39738732e-02 -9.99712538e-01 3.07985400e-04 2.44496363e+02] [ 9.96146337e-01 -2.39143493e-02 -8.43835280e-02 2.03560184e+02] [ 8.43666362e-02 -1.71620147e-03 9.96433302e-01 2.94979214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.59, Z:29.51 [[-2.68088817e-02 -9.99640500e-01 3.93342978e-04 2.44493139e+02] [ 9.96074352e-01 -2.67464463e-02 -8.43831304e-02 2.03594288e+02] [ 8.43633152e-02 -1.87041851e-03 9.96433306e-01 2.95068764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.62, Z:29.49 [[-4.52892872e-02 -9.98973799e-01 4.79037486e-04 2.44473194e+02] [ 9.95409166e-01 -4.51681457e-02 -8.43826442e-02 2.03615535e+02] [ 8.43176879e-02 -3.34479150e-03 9.96433309e-01 2.94922182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.59, Z:29.51 [[-2.56370397e-02 -9.99671155e-01 5.70005303e-04 2.44482832e+02] [ 9.96104731e-01 -2.55936911e-02 -8.43820301e-02 2.03592602e+02] [ 8.43688700e-02 -1.59552048e-03 9.96433313e-01 2.95079447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33710568099997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.46, Z:29.49 [[-1.20457543e-02 -9.99927229e-01 6.61270392e-04 2.44474746e+02] [ 9.96360569e-01 -1.20585910e-02 -8.43813152e-02 2.03464290e+02] [ 8.43831486e-02 -3.57572846e-04 9.96433318e-01 2.94909069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.45, Z:29.49 [[-4.00284384e-03 -9.99991816e-01 5.87218436e-04 2.44467575e+02] [ 9.96425311e-01 -4.03811853e-03 -8.43818308e-02 2.03449162e+02] [ 8.43835115e-02 2.47352021e-04 9.96433320e-01 2.94917338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.457105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.44, Z:29.50 [[ 2.69050145e-04 -9.99999802e-01 5.69735626e-04 2.44464208e+02] [ 9.96433459e-01 2.20015211e-04 -8.43819488e-02 2.03442463e+02] [ 8.43818067e-02 5.90406616e-04 9.96433320e-01 2.94953382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.517105681 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.44, Z:29.50 [[ 3.00070005e-03 -9.99995343e-01 5.56810190e-04 2.44462408e+02] [ 9.96429130e-01 2.94301387e-03 -8.43820341e-02 2.03435911e+02] [ 8.43800024e-02 8.08027067e-04 9.96433321e-01 2.94962581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.577105681 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.52, Z:29.48 [[ 2.51299684e-02 -9.99684044e-01 5.44048487e-04 2.44475001e+02] [ 9.96119941e-01 2.49944518e-02 -8.43821164e-02 2.03518244e+02] [ 8.43418572e-02 2.66245747e-03 9.96433321e-01 2.94779968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.637105681 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.48, Z:29.49 [[ 1.63847402e-02 -9.99865577e-01 6.06610892e-04 2.44467390e+02] [ 9.96300584e-01 1.62751272e-02 -8.43816668e-02 2.03478872e+02] [ 8.43604513e-02 1.98693848e-03 9.96433323e-01 2.94908880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.697105681 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.49, Z:29.49 [[ 2.04197774e-02 -9.99791330e-01 5.74152976e-04 2.44475999e+02] [ 9.96226715e-01 2.02985154e-02 -8.43818877e-02 2.03485483e+02] [ 8.43526253e-02 2.29504590e-03 9.96433323e-01 2.94864401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.757105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.46, Z:29.48 [[ 1.74673358e-02 -9.99847231e-01 6.37350766e-04 2.44491073e+02] [ 9.96282445e-01 1.73512702e-02 -8.43814105e-02 2.03455092e+02] [ 8.43574608e-02 2.10889981e-03 9.96433325e-01 2.94830328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.817105681 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.43, Z:29.48 [[ 1.54352183e-02 -9.99880625e-01 6.99453152e-04 2.44496996e+02] [ 9.96315777e-01 1.53211600e-02 -8.43808959e-02 2.03434949e+02] [ 8.43601065e-02 1.99931376e-03 9.96433327e-01 2.94818279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.877105681 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.44, Z:29.48 [[ 1.09417590e-02 -9.99939877e-01 7.20737677e-04 2.44506855e+02] [ 9.96374602e-01 1.08419262e-02 -8.43807141e-02 2.03438005e+02] [ 8.43678268e-02 1.64139815e-03 9.96433327e-01 2.94804025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:203.42, Z:29.48 [[-2.85720132e-03 -9.99995643e-01 7.41804357e-04 2.44520208e+02] [ 9.96429356e-01 -2.90960579e-03 -8.43805289e-02 2.03423583e+02] [ 8.43823197e-02 4.98063479e-04 9.96433327e-01 2.94837344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.41, Z:29.47 [[-1.71698620e-03 -9.99998235e-01 7.62717992e-04 2.44532701e+02] [ 9.96432038e-01 -1.77522159e-03 -8.43803399e-02 2.03414654e+02] [ 8.43815450e-02 6.15116765e-04 9.96433328e-01 2.94745042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.40, Z:29.49 [[-2.81140703e-02 -9.99604407e-01 7.92901137e-04 2.44532061e+02] [ 9.96037891e-01 -2.80806929e-02 -8.43800563e-02 2.03404862e+02] [ 8.43689414e-02 -1.58250726e-03 9.96433328e-01 2.94867092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.41, Z:29.48 [[-4.04223563e-02 -9.99182321e-01 8.50081529e-04 2.44531834e+02] [ 9.95616387e-01 -4.03498830e-02 -8.43794804e-02 2.03411303e+02] [ 8.43447858e-02 -2.56446232e-03 9.96433330e-01 2.94843599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.40, Z:29.49 [[-5.36299002e-02 -9.98560502e-01 8.70456681e-04 2.44528059e+02] [ 9.94995781e-01 -5.35120034e-02 -8.43792702e-02 2.03395740e+02] [ 8.43043863e-02 -3.65915112e-03 9.96433330e-01 2.94874491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:203.38, Z:29.49 [[-6.44553306e-02 -9.97920187e-01 9.00947664e-04 2.44523618e+02] [ 9.94356842e-01 -6.43013548e-02 -8.43789447e-02 2.03377947e+02] [ 8.42613844e-02 -4.54280930e-03 9.96433330e-01 2.94903609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.39, Z:29.49 [[-6.22294587e-02 -9.98061410e-01 9.56757665e-04 2.44511377e+02] [ 9.94497543e-01 -6.20881368e-02 -8.43783120e-02 2.03394352e+02] [ 8.42741404e-02 -4.29932354e-03 9.96433332e-01 2.94877700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.40, Z:29.49 [[-4.77055755e-02 -9.98860963e-01 9.76665321e-04 2.44495450e+02] [ 9.95295376e-01 -4.76177863e-02 -8.43780816e-02 2.03402528e+02] [ 8.43284785e-02 -3.05323447e-03 9.96433332e-01 2.94900470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.41, Z:29.49 [[-2.49951820e-02 -9.99687075e-01 9.96965495e-04 2.44477459e+02] [ 9.96120410e-01 -2.49901529e-02 -8.43778418e-02 2.03411585e+02] [ 8.43763521e-02 -1.11594184e-03 9.96433332e-01 2.94928058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47710568099995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.43, Z:29.49 [[-7.13862771e-03 -9.99973954e-01 1.06339663e-03 2.44463385e+02] [ 9.96407868e-01 -7.20289864e-03 -8.43770047e-02 2.03428878e+02] [ 8.43824666e-02 4.57240749e-04 9.96433335e-01 2.94916855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53710568099996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.42, Z:29.49 [[-1.30624822e-03 -9.99998547e-01 1.09553018e-03 2.44455724e+02] [ 9.96432962e-01 -1.39402791e-03 -8.43765876e-02 2.03424283e+02] [ 8.43779921e-02 9.81405618e-04 9.96433335e-01 2.94918260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59710568099996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.44, Z:29.49 [[-3.07440936e-03 -9.99994693e-01 1.07834010e-03 2.44456795e+02] [ 9.96428926e-01 -3.15443405e-03 -8.43768073e-02 2.03435265e+02] [ 8.43797610e-02 8.15080427e-04 9.96433335e-01 2.94867072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65710568099996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:203.44, Z:29.49 [[-1.16300450e-04 -9.99999416e-01 1.07406319e-03 2.44454982e+02] [ 9.96433893e-01 -2.06511909e-04 -8.43768617e-02 2.03438739e+02] [ 8.43770343e-02 1.06041989e-03 9.96433335e-01 2.94876818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.44, Z:29.49 [[ 3.82632145e-04 -9.99999364e-01 1.06095006e-03 2.44457136e+02] [ 9.96433857e-01 2.91748001e-04 -8.43770266e-02 2.03440460e+02] [ 8.43766634e-02 1.08945193e-03 9.96433335e-01 2.94850726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77710568099997 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.43, Z:29.49 [[-1.25889415e-02 -9.99920212e-01 1.04351611e-03 2.44463207e+02] [ 9.96353808e-01 -1.26320967e-02 -8.43772422e-02 2.03431069e+02] [ 8.43836917e-02 -2.25089106e-05 9.96433336e-01 2.94910503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.41, Z:29.49 [[-3.64411030e-02 -9.99335271e-01 1.03049015e-03 2.44467873e+02] [ 9.95768866e-01 -3.63980607e-02 -8.43774013e-02 2.03409756e+02] [ 8.43588211e-02 -2.04867556e-03 9.96433336e-01 2.94933223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89710568099997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.40, Z:29.49 [[-5.03860138e-02 -9.98729320e-01 9.97111426e-04 2.44472107e+02] [ 9.95163939e-01 -5.02903810e-02 -8.43777958e-02 2.03397531e+02] [ 8.43207238e-02 -3.25917145e-03 9.96433336e-01 2.94906269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.957105681 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.39, Z:29.49 [[-6.11986589e-02 -9.98125107e-01 9.97382565e-04 2.44478452e+02] [ 9.94560969e-01 -6.10644437e-02 -8.43777926e-02 2.03391251e+02] [ 8.42804979e-02 -4.17184998e-03 9.96433336e-01 2.94871497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.017105681 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.40, Z:29.49 [[-6.23711378e-02 -9.98052460e-01 1.06207331e-03 2.44472470e+02] [ 9.94488277e-01 -6.22381913e-02 -8.43769785e-02 2.03404645e+02] [ 8.42787525e-02 -4.20646870e-03 9.96433338e-01 2.94868128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.077105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.39, Z:29.49 [[-6.26618013e-02 -9.98034191e-01 1.11900710e-03 2.44468146e+02] [ 9.94469871e-01 -6.25326182e-02 -8.43762236e-02 2.03393475e+02] [ 8.42803305e-02 -4.17434731e-03 9.96433340e-01 2.94877440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.137105681 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.38, Z:29.50 [[-5.58824654e-02 -9.98436732e-01 1.11494483e-03 2.44459980e+02] [ 9.94871627e-01 -5.57771488e-02 -8.43762772e-02 2.03384893e+02] [ 8.43065629e-02 -3.60592742e-03 9.96433340e-01 2.94955916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.197105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:203.52, Z:29.51 [[-3.77045893e-02 -9.99288321e-01 1.10280366e-03 2.44444136e+02] [ 9.95721901e-01 -3.76631401e-02 -8.43764359e-02 2.03516231e+02] [ 8.43579220e-02 -2.08329310e-03 9.96433340e-01 2.95140650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.257105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:203.71, Z:29.53 [[-9.53561640e-03 -9.99953857e-01 1.16461400e-03 2.44425612e+02] [ 9.96387778e-01 -9.59987958e-03 -8.43755829e-02 2.03712786e+02] [ 8.43828697e-02 3.55833962e-04 9.96433342e-01 2.95308141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.317105681 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:203.50, Z:29.50 [[ 9.03890763e-03 -9.99958369e-01 1.24876748e-03 2.44421885e+02] [ 9.96394369e-01 8.90132331e-03 -8.43743377e-02 2.03498263e+02] [ 8.43597094e-02 2.00691673e-03 9.96433345e-01 2.95033555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.377105681 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:203.72, Z:29.52 [[ 1.70224978e-02 -9.99854440e-01 1.15458642e-03 2.44421712e+02] [ 9.96291296e-01 1.68644022e-02 -8.43756269e-02 2.03716056e+02] [ 8.43438738e-02 2.58658833e-03 9.96433350e-01 2.95176920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:203.54, Z:29.50 [[ 1.31298870e-02 -9.99913019e-01 1.24934543e-03 2.44432724e+02] [ 9.96349623e-01 1.29776743e-02 -8.43742242e-02 2.03540512e+02] [ 8.43506716e-02 2.35260888e-03 9.96433354e-01 2.95049467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:203.57, Z:29.51 [[ 1.63009117e-03 -9.99998010e-01 1.15043778e-03 2.44443783e+02] [ 9.96432853e-01 1.52721059e-03 -8.43755731e-02 2.03567652e+02] [ 8.43736482e-02 1.28387388e-03 9.96433359e-01 2.95102044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.56, Z:29.51 [[-1.11584588e-02 -9.99937075e-01 1.15570549e-03 2.44456539e+02] [ 9.96370901e-01 -1.12161827e-02 -8.43755010e-02 2.03561398e+02] [ 8.43831542e-02 2.10010768e-04 9.96433359e-01 2.95071552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.43, Z:29.47 [[-2.96388283e-02 -9.99560037e-01 1.12818740e-03 2.44460711e+02] [ 9.95993412e-01 -2.96283049e-02 -8.43758690e-02 2.03427551e+02] [ 8.43721730e-02 -1.37713467e-03 9.96433360e-01 2.94709671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:203.45, Z:29.49 [[-2.28835066e-02 -9.99737569e-01 1.06719684e-03 2.44481708e+02] [ 9.96170940e-01 -2.28919383e-02 -8.43766405e-02 2.03446628e+02] [ 8.43789277e-02 -8.67722932e-04 9.96433361e-01 2.94917997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.44, Z:29.49 [[-2.48957914e-02 -9.99689459e-01 1.08856232e-03 2.44488894e+02] [ 9.96122822e-01 -2.48988470e-02 -8.43763649e-02 2.03441603e+02] [ 8.43772665e-02 -1.01627461e-03 9.96433362e-01 2.94939661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.44, Z:29.49 [[-1.78480692e-02 -9.99840050e-01 1.14944259e-03 2.44493608e+02] [ 9.96273569e-01 -1.78814046e-02 -8.43755357e-02 2.03441354e+02] [ 8.43825935e-02 -3.60781125e-04 9.96433363e-01 2.94934059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.43, Z:29.49 [[-7.55600469e-04 -9.99999016e-01 1.18174939e-03 2.44494310e+02] [ 9.96433700e-01 -8.52616810e-04 -8.43750833e-02 2.03430535e+02] [ 8.43760078e-02 1.11378107e-03 9.96433364e-01 2.94923346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91710568099995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.41, Z:29.49 [[ 5.86190729e-03 -9.99982036e-01 1.25098363e-03 2.44495930e+02] [ 9.96417645e-01 5.73546032e-03 -8.43740569e-02 2.03411683e+02] [ 8.43653663e-02 1.74109506e-03 9.96433366e-01 2.94910755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97710568099995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:203.43, Z:29.49 [[ 9.03811154e-03 -9.99958286e-01 1.31889145e-03 2.44502062e+02] [ 9.96394542e-01 8.89461723e-03 -8.43729956e-02 2.03432396e+02] [ 8.43577450e-02 2.07670879e-03 9.96433369e-01 2.94890503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03710568099996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.42, Z:29.49 [[ 7.15904632e-03 -9.99973476e-01 1.34011754e-03 2.44509839e+02] [ 9.96409538e-01 7.02045897e-03 -8.43726585e-02 2.03415920e+02] [ 8.43610123e-02 1.93933367e-03 9.96433369e-01 2.94900473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09710568099996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:203.41, Z:29.49 [[ 6.54150026e-03 -9.99977677e-01 1.36143133e-03 2.44523465e+02] [ 9.96413724e-01 6.40331646e-03 -8.43723146e-02 2.03411249e+02] [ 8.43617135e-02 1.90847038e-03 9.96433369e-01 2.94905547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15710568099996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.40, Z:29.49 [[ 6.62495635e-03 -9.99977099e-01 1.38247124e-03 2.44533217e+02] [ 9.96413227e-01 6.48470082e-03 -8.43719699e-02 2.03403437e+02] [ 8.43610728e-02 1.93647325e-03 9.96433369e-01 2.94918175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21710568099996 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:203.40, Z:29.48 [[ 2.53725499e-03 -9.99995796e-01 1.40337676e-03 2.44542302e+02] [ 9.96431444e-01 2.40980561e-03 -8.43716222e-02 2.03397818e+02] [ 8.43678856e-02 1.61244105e-03 9.96433370e-01 2.94848159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27710568099997 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:203.41, Z:29.48 [[-1.04740513e-02 -9.99944132e-01 1.42410174e-03 2.44549962e+02] [ 9.96378463e-01 -1.05568622e-02 -8.43712724e-02 2.03412514e+02] [ 8.43815927e-02 5.35235269e-04 9.96433370e-01 2.94841553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33710568099997 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:203.41, Z:29.49 [[-2.59735939e-02 -9.99661530e-01 1.48275301e-03 2.44555841e+02] [ 9.96095049e-01 -2.60060708e-02 -8.43702418e-02 2.03412235e+02] [ 8.43802455e-02 -7.14435457e-04 9.96433371e-01 2.94916685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39710568099997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:203.42, Z:29.49 [[-4.07403621e-02 -9.99168563e-01 1.55091863e-03 2.44557765e+02] [ 9.95601966e-01 -4.07258950e-02 -8.43689889e-02 2.03424239e+02] [ 8.43620040e-02 -1.89312551e-03 9.96433374e-01 2.94938513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.457105681 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:203.41, Z:29.49 [[-5.86066822e-02 -9.98279899e-01 1.58099130e-03 2.44558593e+02] [ 9.94714077e-01 -5.85309567e-02 -8.43684254e-02 2.03405796e+02] [ 8.43158401e-02 -3.37191920e-03 9.96433374e-01 2.94862397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.517105681 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:203.40, Z:29.48 [[-6.80775383e-02 -9.97678669e-01 1.64999947e-03 2.44555937e+02] [ 9.94113554e-01 -6.79737989e-02 -8.43670760e-02 2.03395411e+02] [ 8.42833888e-02 -4.10321600e-03 9.96433377e-01 2.94833468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.577105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:203.39, Z:29.48 [[-6.93380487e-02 -9.97591807e-01 1.67949122e-03 2.44549266e+02] [ 9.94026753e-01 -6.92322928e-02 -8.43664889e-02 2.03386974e+02] [ 8.42795932e-02 -4.18034852e-03 9.96433377e-01 2.94813234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.637105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:203.38, Z:29.48 [[-6.27249686e-02 -9.98029322e-01 1.74646039e-03 2.44537931e+02] [ 9.94463522e-01 -6.26484934e-02 -8.43651028e-02 2.03381639e+02] [ 8.43082595e-02 -3.55500727e-03 9.96433379e-01 2.94784465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.697105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:203.38, Z:29.48 [[-5.78229131e-02 -9.98325277e-01 1.77540945e-03 2.44526057e+02] [ 9.94759105e-01 -5.77663934e-02 -8.43644936e-02 2.03378194e+02] [ 8.43257654e-02 -3.11209606e-03 9.96433380e-01 2.94828529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.757105681 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.37, Z:29.49 [[-6.22049078e-02 -9.98061700e-01 1.84178429e-03 2.44511279e+02] [ 9.94495703e-01 -6.21383347e-02 -8.43630447e-02 2.03368576e+02] [ 8.43139692e-02 -3.41614885e-03 9.96433382e-01 2.94916289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.817105681 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:203.37, Z:29.49 [[-6.66127734e-02 -9.97777165e-01 1.86230631e-03 2.44505484e+02] [ 9.94211457e-01 -6.65321816e-02 -8.43625917e-02 2.03369293e+02] [ 8.42989708e-02 -3.76809993e-03 9.96433382e-01 2.94897526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.877105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:203.36, Z:29.49 [[-7.07948097e-02 -9.97489123e-01 1.88277579e-03 2.44493627e+02] [ 9.93923739e-01 -7.07009984e-02 -8.43621349e-02 2.03363073e+02] [ 8.42834260e-02 -4.10106573e-03 9.96433382e-01 2.94852257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:203.36, Z:29.48 [[-6.87798392e-02 -9.97630047e-01 1.90321617e-03 2.44474093e+02] [ 9.94064440e-01 -6.86949547e-02 -8.43616738e-02 2.03364595e+02] [ 8.42924819e-02 -3.91046284e-03 9.96433383e-01 2.94845017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:203.38, Z:29.49 [[-6.26998960e-02 -9.98030500e-01 1.96052508e-03 2.44457157e+02] [ 9.94464361e-01 -6.26415752e-02 -8.43603420e-02 2.03375320e+02] [ 8.43170047e-02 -3.33971235e-03 9.96433384e-01 2.94928416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:203.36, Z:29.49 [[-5.43624807e-02 -9.98519318e-01 1.97292516e-03 2.44437149e+02] [ 9.94952808e-01 -5.43349917e-02 -8.43600520e-02 2.03364143e+02] [ 8.43423405e-02 -2.62305427e-03 9.96433384e-01 2.94900658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:203.38, Z:29.49 [[-4.53014949e-02 -9.98971533e-01 1.91066842e-03 2.44418563e+02] [ 9.95404919e-01 -4.53011083e-02 -8.43614622e-02 2.03381276e+02] [ 8.43612547e-02 -1.91981161e-03 9.96433386e-01 2.94905393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:203.35, Z:29.50 [[-3.60642638e-02 -9.99347725e-01 1.86896555e-03 2.44397910e+02] [ 9.95781231e-01 -3.60933301e-02 -8.43623862e-02 2.03353955e+02] [ 8.43748159e-02 -1.18138653e-03 9.96433387e-01 2.94975042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:203.33, Z:29.49 [[-2.85348373e-02 -9.99591150e-01 1.81571725e-03 2.44382388e+02] [ 9.96024909e-01 -2.85862765e-02 -8.43635324e-02 2.03330477e+02] [ 8.43809449e-02 -5.98800057e-04 9.96433388e-01 2.94937643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29710568099995 meters Centerline goodness : 0.998543 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:203.35, Z:29.49 [[-2.52839816e-02 -9.99678766e-01 1.75638520e-03 2.44367945e+02] [ 9.96112628e-01 -2.53420111e-02 -8.43647677e-02 2.03346119e+02] [ 8.43821772e-02 -3.83519753e-04 9.96433390e-01 2.94858604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35710568099995 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:203.34, Z:29.48 [[-2.57583238e-02 -9.99666725e-01 1.71704886e-03 2.44355386e+02] [ 9.96100510e-01 -2.58113415e-02 -8.43655684e-02 2.03336512e+02] [ 8.43817708e-02 -4.62762380e-04 9.96433391e-01 2.94818013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41710568099995 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:203.33, Z:29.49 [[-2.68054604e-02 -9.99639261e-01 1.67771215e-03 2.44348904e+02] [ 9.96072949e-01 -2.68514228e-02 -8.43663507e-02 2.03328021e+02] [ 8.43809655e-02 -5.90355178e-04 9.96433392e-01 2.94885476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47710568099995 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:203.36, Z:29.49 [[-3.17364373e-02 -9.99494960e-01 1.61982438e-03 2.44342647e+02] [ 9.95928431e-01 -3.17599207e-02 -8.43674623e-02 2.03356821e+02] [ 8.43762988e-02 -1.06429352e-03 9.96433393e-01 2.94896677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53710568099996 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:203.33, Z:29.49 [[-4.06085571e-02 -9.99173912e-01 1.56132480e-03 2.44335218e+02] [ 9.95607332e-01 -4.05954392e-02 -8.43685450e-02 2.03325311e+02] [ 8.43622319e-02 -1.87161846e-03 9.96433395e-01 2.94871026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59710568099996 meters Centerline goodness : 0.997507 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:203.35, Z:29.47 [[-4.10205706e-02 -9.99157172e-01 1.50310057e-03 2.44337657e+02] [ 9.95590622e-01 -4.10010682e-02 -8.43695825e-02 2.03350557e+02] [ 8.43601021e-02 -1.96441558e-03 9.96433397e-01 2.94679024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65710568099996 meters Centerline goodness : 0.998250 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:203.30, Z:29.48 [[-7.14666560e-02 -9.97441931e-01 1.45331565e-03 2.44318158e+02] [ 9.93877788e-01 -7.13342168e-02 -8.43704401e-02 2.03302477e+02] [ 8.42582858e-02 -4.58525508e-03 9.96433398e-01 2.94842111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71710568099996 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:203.31, Z:29.48 [[-7.68639451e-02 -9.97040618e-01 1.39300198e-03 2.44302166e+02] [ 9.93477467e-01 -7.67071327e-02 -8.43714361e-02 2.03308495e+02] [ 8.42286019e-02 -5.10120535e-03 9.96433400e-01 2.94819770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77710568099997 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:203.32, Z:29.48 [[-7.45434480e-02 -9.97216833e-01 1.36466841e-03 2.44283098e+02] [ 9.93653427e-01 -7.43925391e-02 -8.43718944e-02 2.03319400e+02] [ 8.42385945e-02 -4.93336449e-03 9.96433400e-01 2.94831933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83710568099997 meters Centerline goodness : 0.996938 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:203.32, Z:29.48 [[-6.40427118e-02 -9.97946290e-01 1.31686435e-03 2.44263109e+02] [ 9.94381625e-01 -6.39252872e-02 -8.43726406e-02 2.03316954e+02] [ 8.42835446e-02 -4.09398699e-03 9.96433401e-01 2.94771507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89710568099997 meters Centerline goodness : 0.995528 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:203.34, Z:29.46 [[-6.08085425e-02 -9.98148642e-01 1.26890076e-03 2.44230234e+02] [ 9.94583739e-01 -6.06986238e-02 -8.43733620e-02 2.03338353e+02] [ 8.42941772e-02 -3.86859311e-03 9.96433403e-01 2.94615114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.957105681 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:203.37, Z:29.48 [[-4.48411860e-02 -9.98993374e-01 1.22736958e-03 2.44201912e+02] [ 9.95427224e-01 -4.47847769e-02 -8.43739662e-02 2.03365628e+02] [ 8.43440007e-02 -2.56167162e-03 9.96433403e-01 2.94846061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.017105681 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:203.38, Z:29.45 [[-1.39952831e-02 -9.99901382e-01 1.16564091e-03 2.44200444e+02] [ 9.96335116e-01 -1.40437277e-02 -8.43748192e-02 2.03375832e+02] [ 8.43828682e-02 -1.94805110e-05 9.96433405e-01 2.94527664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.077105681 meters Centerline goodness : 0.995125 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:203.40, Z:29.47 [[-2.39762645e-02 -9.99711920e-01 1.10253404e-03 2.44168653e+02] [ 9.96145335e-01 -2.39837803e-02 -8.43756440e-02 2.03396566e+02] [ 8.43777800e-02 -9.24728620e-04 9.96433407e-01 2.94744158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.137105681 meters Centerline goodness : 0.996295 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:203.41, Z:29.49 [[-1.86350814e-02 -9.99825813e-01 1.03828343e-03 2.44139460e+02] [ 9.96259285e-01 -1.86562292e-02 -8.43764348e-02 2.03410413e+02] [ 8.43811079e-02 -5.37962224e-04 9.96433409e-01 2.94923189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.197105681 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:203.39, Z:29.50 [[-1.31612863e-02 -9.99912914e-01 9.72004763e-04 2.44124598e+02] [ 9.96346498e-01 -1.31963658e-02 -8.43771985e-02 2.03385487e+02] [ 8.43826773e-02 -1.42058923e-04 9.96433412e-01 2.94974374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.257105681 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:203.39, Z:29.47 [[ 3.77569032e-03 -9.99992480e-01 8.84983116e-04 2.44124850e+02] [ 9.96426985e-01 3.68755425e-03 -8.43781115e-02 2.03393175e+02] [ 8.43742136e-02 1.20040668e-03 9.96433415e-01 2.94680759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.317105681 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:203.39, Z:29.49 [[-4.99407766e-03 -9.99987199e-01 8.12970359e-04 2.44100246e+02] [ 9.96420979e-01 -5.04486579e-03 -8.43788056e-02 2.03386495e+02] [ 8.43818268e-02 3.88666413e-04 9.96433418e-01 2.94908746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.377105681 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:203.37, Z:29.49 [[-5.31356033e-03 -9.99985618e-01 7.28228164e-04 2.44090745e+02] [ 9.96419292e-01 -5.35605861e-03 -8.43795372e-02 2.03366583e+02] [ 8.43822241e-02 2.77264830e-04 9.96433421e-01 2.94927536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters Centerline goodness : 0.998554 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:203.37, Z:29.49 [[-7.21566441e-03 -9.99973767e-01 6.31442483e-04 2.44084972e+02] [ 9.96407300e-01 -7.24321198e-03 -8.43802619e-02 2.03372122e+02] [ 8.43826220e-02 2.03142472e-05 9.96433426e-01 2.94941836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:203.35, Z:29.49 [[-1.38964522e-02 -9.99903286e-01 5.54801770e-04 2.44079234e+02] [ 9.96336716e-01 -1.38937039e-02 -8.43807660e-02 2.03350484e+02] [ 8.43803135e-02 -6.19823909e-04 9.96433429e-01 2.94903582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:203.62, Z:29.51 [[-2.67220201e-02 -9.99642792e-01 4.71501952e-04 2.44067827e+02] [ 9.96076657e-01 -2.66664918e-02 -8.43812318e-02 2.03623245e+02] [ 8.43636634e-02 -1.78518488e-03 9.96433433e-01 2.95102351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters Centerline goodness : 0.998604 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:203.24, Z:29.48 [[-2.53630893e-02 -9.99678221e-01 4.09374251e-04 2.44067617e+02] [ 9.96112094e-01 -2.53071669e-02 -8.43815334e-02 2.03241160e+02] [ 8.43647413e-02 -1.73239372e-03 9.96433434e-01 2.94809470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:203.45, Z:29.48 [[-4.82512287e-02 -9.98835220e-01 1.47992926e-04 2.44039267e+02] [ 9.95272262e-01 -4.80916136e-02 -8.43819947e-02 2.03451971e+02] [ 8.42908254e-02 -3.92424167e-03 9.96433468e-01 2.94761438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:203.24, Z:29.49 [[-2.70783952e-02 -9.99633307e-01 1.12320369e-04 2.44058215e+02] [ 9.96067840e-01 -2.69912939e-02 -8.43820422e-02 2.03243538e+02] [ 8.43541316e-02 -2.17305158e-03 9.96433469e-01 2.94852991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79710568099995 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:203.30, Z:29.47 [[-2.15369488e-02 -9.99768051e-01 -5.76570455e-05 2.44058446e+02] [ 9.96202470e-01 -2.14552729e-02 -8.43819273e-02 2.03304225e+02] [ 8.43611180e-02 -1.87476734e-03 9.96433484e-01 2.94659926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85710568099995 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:203.36, Z:29.49 [[-3.16731230e-02 -9.99498280e-01 -3.29221151e-05 2.44047957e+02] [ 9.95933643e-01 -3.15573837e-02 -8.43819370e-02 2.03360621e+02] [ 8.43385619e-02 -2.70542771e-03 9.96433484e-01 2.94910981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91710568099995 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:203.42, Z:29.48 [[-1.49995815e-02 -9.99887500e-01 -5.28729830e-06 2.44040433e+02] [ 9.96321392e-01 -1.49456391e-02 -8.43819387e-02 2.03419745e+02] [ 8.43723667e-02 -1.27096161e-03 9.96433484e-01 2.94799383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97710568099995 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:203.40, Z:29.50 [[-3.91157707e-03 -9.99992350e-01 1.00049485e-05 2.44025838e+02] [ 9.96425858e-01 -3.89847059e-03 -8.43819369e-02 2.03398384e+02] [ 8.43813304e-02 -3.20097260e-04 9.96433484e-01 2.95009655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03710568099996 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:203.46, Z:29.51 [[ 1.48825176e-02 -9.99889247e-01 -6.19420514e-05 2.44015448e+02] [ 9.96323055e-01 1.48346652e-02 -8.43818843e-02 2.03456335e+02] [ 8.43734577e-02 1.19410058e-03 9.96433487e-01 2.95110572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09710568099996 meters Centerline goodness : 0.998289 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:203.51, Z:29.53 [[ 1.56415812e-02 -9.99877662e-01 -3.65388967e-05 2.44003048e+02] [ 9.96311539e-01 1.55888782e-02 -8.43818954e-02 2.03512767e+02] [ 8.43721419e-02 1.28346215e-03 9.96433487e-01 2.95300547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15710568099996 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:203.57, Z:29.53 [[ 8.28346059e-03 -9.99965691e-01 -2.76670410e-05 2.43996259e+02] [ 9.96399282e-01 8.25625205e-03 -8.43818983e-02 2.03571577e+02] [ 8.43792316e-02 6.71406709e-04 9.96433487e-01 2.95297083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21710568099996 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:203.63, Z:29.53 [[-4.66407018e-03 -9.99989123e-01 -2.28479635e-06 2.43991112e+02] [ 9.96422650e-01 -4.64724292e-03 -8.43818990e-02 2.03629039e+02] [ 8.43809706e-02 -3.95839721e-04 9.96433488e-01 2.95347517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27710568099997 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:203.58, Z:29.52 [[-1.64752526e-02 -9.99864273e-01 2.75338858e-05 2.43983932e+02] [ 9.96298208e-01 -1.64188165e-02 -8.43818893e-02 2.03582240e+02] [ 8.43708885e-02 -1.36278098e-03 9.96433488e-01 2.95249471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33710568099997 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:203.64, Z:29.53 [[-2.75499370e-02 -9.99620427e-01 -5.54320613e-05 2.43972633e+02] [ 9.96055404e-01 -2.74470044e-02 -8.43818351e-02 2.03639651e+02] [ 8.43482846e-02 -2.37992765e-03 9.96433491e-01 2.95259621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39710568099997 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:203.70, Z:29.53 [[-3.78374841e-02 -9.99283905e-01 -4.54709304e-05 2.43960038e+02] [ 9.95720098e-01 -3.76987023e-02 -8.43818404e-02 2.03697527e+02] [ 8.43197008e-02 -3.23807287e-03 9.96433491e-01 2.95279238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.457105681 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:203.75, Z:29.53 [[-5.11118636e-02 -9.98692934e-01 -1.83919022e-05 2.43943072e+02] [ 9.95131168e-01 -5.09280229e-02 -8.43818464e-02 2.03754126e+02] [ 8.42706171e-02 -4.33121578e-03 9.96433492e-01 2.95327229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.517105681 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:203.69, Z:29.53 [[-5.95661159e-02 -9.98224362e-01 7.72486909e-06 2.43924624e+02] [ 9.94664149e-01 -5.93543236e-02 -8.43818440e-02 2.03687643e+02] [ 8.42324710e-02 -5.01861505e-03 9.96433492e-01 2.95338358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.577105681 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:203.74, Z:29.56 [[-4.31798220e-02 -9.99067310e-01 -1.16878310e-04 2.43907343e+02] [ 9.95504576e-01 -4.30159686e-02 -8.43816721e-02 2.03744502e+02] [ 8.42979425e-02 -3.75993847e-03 9.96433500e-01 2.95568791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.637105681 meters Centerline goodness : 0.998516 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:203.80, Z:29.56 [[-2.79236424e-02 -9.99610055e-01 -9.27070037e-05 2.43902806e+02] [ 9.96045173e-01 -2.78162332e-02 -8.43816987e-02 2.03801477e+02] [ 8.43462157e-02 -2.44858474e-03 9.96433500e-01 2.95564799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.697105681 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:203.86, Z:29.56 [[-2.94898649e-02 -9.99565076e-01 -7.87409940e-05 2.43903412e+02] [ 9.96000330e-01 -2.93780481e-02 -8.43817117e-02 2.03859323e+02] [ 8.43426988e-02 -2.56683134e-03 9.96433500e-01 2.95567497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.757105681 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:203.92, Z:29.56 [[-3.66723901e-02 -9.99327340e-01 -5.26732310e-05 2.43907183e+02] [ 9.95763406e-01 -3.65371564e-02 -8.43817280e-02 2.03916993e+02] [ 8.43230433e-02 -3.14692972e-03 9.96433501e-01 2.95584860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.817105681 meters Centerline goodness : 0.998666 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:203.98, Z:29.56 [[-4.13272100e-02 -9.99145665e-01 -3.03512643e-05 2.43912223e+02] [ 9.95582320e-01 -4.11772577e-02 -8.43817361e-02 2.03975221e+02] [ 8.43083960e-02 -3.51747891e-03 9.96433501e-01 2.95559963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.877105681 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.03, Z:29.56 [[-4.22952027e-02 -9.99105158e-01 -3.90739560e-07 2.43912175e+02] [ 9.95541852e-01 -4.21443239e-02 -8.43817362e-02 2.04032436e+02] [ 8.43062114e-02 -3.56933163e-03 9.96433501e-01 2.95634664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.09, Z:29.58 [[-4.14371682e-02 -9.99141112e-01 8.84031095e-06 2.43910339e+02] [ 9.95577645e-01 -4.12901279e-02 -8.43817353e-02 2.04090997e+02] [ 8.43096258e-02 -3.48773894e-03 9.96433501e-01 2.95774370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:204.15, Z:29.58 [[-4.71287792e-02 -9.98888819e-01 -7.06689766e-05 2.43903795e+02] [ 9.95326573e-01 -4.69547383e-02 -8.43816689e-02 2.04149553e+02] [ 8.42845874e-02 -4.04714375e-03 9.96433505e-01 2.95782706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.21, Z:29.59 [[-4.45125923e-02 -9.99008822e-01 -4.51108573e-05 2.43907481e+02] [ 9.95446034e-01 -4.43500357e-02 -8.43816826e-02 2.04206200e+02] [ 8.42960447e-02 -3.80095286e-03 9.96433505e-01 2.95884655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.27, Z:29.58 [[-3.79952479e-02 -9.99277920e-01 -1.74924058e-05 2.43912153e+02] [ 9.95714057e-01 -3.78582631e-02 -8.43816884e-02 2.04265766e+02] [ 8.43200958e-02 -3.22352060e-03 9.96433505e-01 2.95836685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.28, Z:29.58 [[-3.33934095e-02 -9.99442285e-01 1.05333336e-05 2.43912357e+02] [ 9.95877750e-01 -3.32752004e-02 -8.43816849e-02 2.04275527e+02] [ 8.43349745e-02 -2.80730224e-03 9.96433506e-01 2.95775462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.34, Z:29.57 [[-3.08339805e-02 -9.99524515e-01 -9.37528863e-05 2.43916254e+02] [ 9.95959975e-01 -3.07161044e-02 -8.43815695e-02 2.04335486e+02] [ 8.43385677e-02 -2.69519379e-03 9.96433511e-01 2.95670185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29710568099995 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.39, Z:29.59 [[-3.33247453e-02 -9.99444574e-01 -7.10559773e-05 2.43914629e+02] [ 9.95880271e-01 -3.31999007e-02 -8.43815887e-02 2.04392647e+02] [ 8.43323619e-02 -2.88275820e-03 9.96433511e-01 2.95872493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35710568099995 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.45, Z:29.59 [[-3.36709605e-02 -9.99432971e-01 -4.54362717e-05 2.43913923e+02] [ 9.95868637e-01 -3.35470417e-02 -8.43816025e-02 2.04449241e+02] [ 8.43322314e-02 -2.88645816e-03 9.96433512e-01 2.95925727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41710568099995 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:204.50, Z:29.61 [[-3.00648993e-02 -9.99547948e-01 -2.58326531e-05 2.43913385e+02] [ 9.95983139e-01 -2.99554944e-02 -8.43816085e-02 2.04504790e+02] [ 8.43426898e-02 -2.56265345e-03 9.96433512e-01 2.96058893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47710568099995 meters Centerline goodness : 0.997526 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.56, Z:29.61 [[-1.87667166e-02 -9.99823890e-01 -1.42264660e-06 2.43922685e+02] [ 9.96258032e-01 -1.86996653e-02 -8.43816089e-02 2.04563104e+02] [ 8.43667219e-02 -1.58498306e-03 9.96433512e-01 2.96105951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53710568099996 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.58, Z:29.62 [[-1.45527230e-02 -9.99894103e-01 2.14794139e-05 2.43923090e+02] [ 9.96327967e-01 -1.45026332e-02 -8.43816031e-02 2.04578200e+02] [ 8.43729789e-02 -1.20658156e-03 9.96433512e-01 2.96218771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59710568099996 meters Centerline goodness : 0.997616 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.64, Z:29.63 [[-8.96651767e-03 -9.99959799e-01 -4.06975655e-05 2.43921065e+02] [ 9.96393489e-01 -8.93110474e-03 -8.43815733e-02 2.04636644e+02] [ 8.43778176e-02 -7.97159657e-04 9.96433514e-01 2.96275061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65710568099996 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:204.70, Z:29.63 [[-1.56159438e-03 -9.99998781e-01 -1.70013035e-05 2.43925479e+02] [ 9.96432302e-01 -1.55459038e-03 -8.43815781e-02 2.04695503e+02] [ 8.43814488e-02 -1.48710446e-04 9.96433515e-01 2.96266669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71710568099996 meters Centerline goodness : 0.997892 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.76, Z:29.63 [[ 3.63640213e-03 -9.99993388e-01 6.61685402e-06 2.43924844e+02] [ 9.96426929e-01 3.62287462e-03 -8.43815763e-02 2.04755793e+02] [ 8.43809944e-02 3.13438555e-04 9.96433515e-01 2.96320686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77710568099997 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:204.81, Z:29.63 [[ 7.08114995e-03 -9.99974927e-01 -5.80370055e-05 2.43929466e+02] [ 9.96408502e-01 7.06079231e-03 -8.43815320e-02 2.04814103e+02] [ 8.43798260e-02 5.39689716e-04 9.96433517e-01 2.96292683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83710568099997 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:204.87, Z:29.64 [[ 1.03939679e-02 -9.99945980e-01 -4.91837315e-05 2.43928854e+02] [ 9.96379649e-01 1.03610480e-02 -8.43815371e-02 2.04871715e+02] [ 8.43774885e-02 8.28053320e-04 9.96433517e-01 2.96393954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89710568099997 meters Centerline goodness : 0.998273 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:204.93, Z:29.64 [[ 1.15990986e-02 -9.99932728e-01 -2.52622591e-05 2.43927852e+02] [ 9.96366461e-01 1.15598622e-02 -8.43815443e-02 2.04929865e+02] [ 8.43761598e-02 9.53579389e-04 9.96433517e-01 2.96439716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.957105681 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.99, Z:29.66 [[ 5.90445536e-04 -9.99999826e-01 -1.22857725e-05 2.43920244e+02] [ 9.96433343e-01 5.89376418e-04 -8.43815462e-02 2.04987891e+02] [ 8.43815388e-02 3.75807542e-05 9.96433517e-01 2.96566569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.017105681 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:204.99, Z:29.64 [[ 2.15799199e-03 -9.99997671e-01 1.17406771e-05 2.43921306e+02] [ 9.96431200e-01 2.14930486e-03 -8.43815429e-02 2.04992951e+02] [ 8.43813212e-02 1.93793471e-04 9.96433518e-01 2.96417387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.077105681 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:205.05, Z:29.65 [[-3.79294140e-03 -9.99992802e-01 -9.63943072e-05 2.43914989e+02] [ 9.96426391e-01 -3.77128016e-03 -8.43814199e-02 2.05050180e+02] [ 8.43804490e-02 -4.16103612e-04 9.96433523e-01 2.96466983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.137105681 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:205.11, Z:29.63 [[-1.51577258e-03 -9.99998848e-01 -8.39486787e-05 2.43906091e+02] [ 9.96432393e-01 -1.50328292e-03 -8.43814323e-02 2.05110378e+02] [ 8.43812088e-02 -2.11552244e-04 9.96433524e-01 2.96286207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.197105681 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.17, Z:29.65 [[-6.89912330e-03 -9.99976199e-01 -6.01678006e-05 2.43891905e+02] [ 9.96409846e-01 -6.86944084e-03 -8.43814492e-02 2.05166612e+02] [ 8.43790276e-02 -6.42109811e-04 9.96433524e-01 2.96543385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.257105681 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.22, Z:29.66 [[-1.66233051e-02 -9.99861823e-01 -3.73037206e-05 2.43888458e+02] [ 9.96295893e-01 -1.65608712e-02 -8.43814594e-02 2.05223756e+02] [ 8.43691820e-02 -1.43986429e-03 9.96433524e-01 2.96588054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.317105681 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:205.28, Z:29.66 [[-1.14127588e-02 -9.99934872e-01 -2.75096157e-05 2.43883266e+02] [ 9.96368656e-01 -1.13697343e-02 -8.43814626e-02 2.05282363e+02] [ 8.43756542e-02 -9.90435000e-04 9.96433524e-01 2.96567189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.377105681 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:205.34, Z:29.68 [[ 3.61054001e-03 -9.99993482e-01 -2.00315352e-06 2.43878924e+02] [ 9.96427029e-01 3.59783214e-03 -8.43814632e-02 2.05339178e+02] [ 8.43809204e-02 3.02666653e-04 9.96433524e-01 2.96794505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:205.39, Z:29.70 [[ 1.61942131e-02 -9.99868865e-01 2.10935020e-05 2.43873106e+02] [ 9.96302887e-01 1.61346772e-02 -8.43814574e-02 2.05390636e+02] [ 8.43700517e-02 1.38750682e-03 9.96433525e-01 2.97001993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:205.45, Z:29.71 [[ 2.79471150e-02 -9.99609400e-01 -8.40299675e-05 2.43879787e+02] [ 9.96044132e-01 2.78545304e-02 -8.43813532e-02 2.05449348e+02] [ 8.43507345e-02 2.27451782e-03 9.96433530e-01 2.97051056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.51, Z:29.71 [[ 4.54021974e-02 -9.98968787e-01 -6.05547844e-05 2.43888928e+02] [ 9.95405767e-01 4.52453764e-02 -8.43813701e-02 2.05506106e+02] [ 8.42970947e-02 3.77082304e-03 9.96433531e-01 2.97100004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.56, Z:29.72 [[ 5.04589240e-02 -9.98726136e-01 -4.56082847e-05 2.43889371e+02] [ 9.95164018e-01 5.02828075e-02 -8.43813782e-02 2.05563618e+02] [ 8.42761811e-02 4.21240582e-03 9.96433531e-01 2.97154976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.62, Z:29.72 [[ 4.34971018e-02 -9.99053553e-01 -1.89590581e-05 2.43889710e+02] [ 9.95490390e-01 4.33435690e-02 -8.43813842e-02 2.05621777e+02] [ 8.43023435e-02 3.65147210e-03 9.96433531e-01 2.97204218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.68, Z:29.72 [[ 3.02439399e-02 -9.99542547e-01 -2.45607457e-06 2.43889419e+02] [ 9.95977704e-01 3.01362829e-02 -8.43813847e-02 2.05679581e+02] [ 8.43428582e-02 2.54957933e-03 9.96433531e-01 2.97170596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79710568099995 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.70, Z:29.72 [[ 1.37121841e-02 -9.99905983e-01 2.54592317e-05 2.43891145e+02] [ 9.96339880e-01 1.36611320e-02 -8.43813763e-02 2.05700228e+02] [ 8.43730952e-02 1.18241902e-03 9.96433532e-01 2.97196143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85710568099995 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.76, Z:29.73 [[ 6.48202473e-03 -9.99978987e-01 -9.48057889e-05 2.43886641e+02] [ 9.96412558e-01 6.46690656e-03 -8.43812418e-02 2.05758754e+02] [ 8.43800818e-02 4.52495618e-04 9.96433539e-01 2.97269982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91710568099995 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.82, Z:29.73 [[ 1.33279265e-03 -9.99999109e-01 -7.05794496e-05 2.43886357e+02] [ 9.96432649e-01 1.33399489e-03 -8.43812621e-02 2.05816704e+02] [ 8.43812811e-02 4.21350586e-05 9.96433539e-01 2.97279126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97710568099995 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:205.87, Z:29.72 [[-7.32667711e-03 -9.99973159e-01 -4.30034664e-05 2.43884350e+02] [ 9.96406822e-01 -7.29691822e-03 -8.43812762e-02 2.05874576e+02] [ 8.43786975e-02 -6.61083311e-04 9.96433539e-01 2.97236097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03710568099996 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:205.93, Z:29.73 [[-1.28648739e-02 -9.99917244e-01 -1.60149808e-05 2.43885947e+02] [ 9.96351097e-01 -1.28176406e-02 -8.43812813e-02 2.05931567e+02] [ 8.43740930e-02 -1.10151108e-03 9.96433540e-01 2.97312555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09710568099996 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:205.99, Z:29.74 [[-1.38862714e-02 -9.99903581e-01 -2.43458599e-06 2.43883203e+02] [ 9.96337468e-01 -1.38365412e-02 -8.43812817e-02 2.05989885e+02] [ 8.43731121e-02 -1.17416705e-03 9.96433540e-01 2.97358802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15710568099996 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:206.09, Z:29.75 [[ 1.24921455e-02 -9.99921970e-01 2.03622668e-05 2.43875142e+02] [ 9.96355810e-01 1.24458747e-02 -8.43812762e-02 2.06085964e+02] [ 8.43744385e-02 1.07439124e-03 9.96433540e-01 2.97495170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21710568099996 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:206.14, Z:29.76 [[ 1.42255488e-02 -9.99896586e-01 -2.10960183e-03 2.43876218e+02] [ 9.96334660e-01 1.43527905e-02 -8.43281834e-02 2.06142703e+02] [ 8.43497414e-02 -9.02254737e-04 9.96435802e-01 2.97600239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27710568099997 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:206.20, Z:29.77 [[ 1.85558435e-02 -9.99825656e-01 -2.08277850e-03 2.43881883e+02] [ 9.96263142e-01 1.86653955e-02 -8.43288459e-02 2.06201096e+02] [ 8.43530196e-02 -5.10202585e-04 9.96435802e-01 2.97653705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33710568099997 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:206.26, Z:29.78 [[ 2.62764594e-02 -9.99652593e-01 -2.05961004e-03 2.43884629e+02] [ 9.96089295e-01 2.63565421e-02 -8.43294118e-02 2.06258166e+02] [ 8.43543993e-02 1.64322850e-04 9.96435802e-01 2.97786815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39710568099997 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.31, Z:29.79 [[ 5.47275834e-02 -9.98499256e-01 -2.03170372e-03 2.43885188e+02] [ 9.94935138e-01 5.47038259e-02 -8.43300841e-02 2.06314848e+02] [ 8.43146682e-02 2.59376829e-03 9.96435803e-01 2.97938869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.457105681 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.37, Z:29.80 [[ 5.99678097e-02 -9.98198261e-01 -2.02314303e-03 2.43889774e+02] [ 9.94634326e-01 5.99246228e-02 -8.43302895e-02 2.06373165e+02] [ 8.42995844e-02 3.04481526e-03 9.96435803e-01 2.97996523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.517105681 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.43, Z:29.81 [[ 6.11742952e-02 -9.98125098e-01 -1.99874709e-03 2.43891515e+02] [ 9.94561245e-01 6.11247422e-02 -8.43308677e-02 2.06430058e+02] [ 8.42949285e-02 3.17100500e-03 9.96435803e-01 2.98084846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.577105681 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.49, Z:29.81 [[ 5.71470639e-02 -9.98363787e-01 -1.99026994e-03 2.43891675e+02] [ 9.94799771e-01 5.71111737e-02 -8.43310678e-02 2.06489252e+02] [ 8.43067509e-02 2.83935284e-03 9.96435803e-01 2.98097949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.637105681 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.55, Z:29.81 [[ 4.31163816e-02 -9.99068120e-01 -1.96702307e-03 2.43894217e+02] [ 9.95503944e-01 4.31286009e-02 -8.43316101e-02 2.06548159e+02] [ 8.43378581e-02 1.67789466e-03 9.96435803e-01 2.98103109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.697105681 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.61, Z:29.81 [[ 2.78800340e-02 -9.99609388e-01 -1.94294234e-03 2.43891509e+02] [ 9.96045776e-01 2.79445581e-02 -8.43321649e-02 2.06606920e+02] [ 8.43535184e-02 4.15924109e-04 9.96435804e-01 2.98076639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.757105681 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:206.66, Z:29.81 [[ 1.99637288e-02 -9.99798864e-01 -1.91862869e-03 2.43894375e+02] [ 9.96235822e-01 2.00544186e-02 -8.43327181e-02 2.06664650e+02] [ 8.43542327e-02 -2.27811120e-04 9.96435804e-01 2.98076920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.817105681 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:206.72, Z:29.81 [[ 1.81716441e-02 -9.99833058e-01 -1.90987704e-03 2.43896690e+02] [ 9.96270164e-01 1.82679820e-02 -8.43329163e-02 2.06723896e+02] [ 8.43537272e-02 -3.70285773e-04 9.96435804e-01 2.98060630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.877105681 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:206.78, Z:29.81 [[ 2.11471265e-02 -9.99774596e-01 -1.88586434e-03 2.43899976e+02] [ 9.96211383e-01 2.12308351e-02 -8.43334533e-02 2.06780962e+02] [ 8.43544826e-02 -9.53093148e-05 9.96435804e-01 2.98115564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:206.84, Z:29.82 [[ 2.14570010e-02 -9.99768018e-01 -1.87262991e-03 2.43902345e+02] [ 9.96204754e-01 2.15384889e-02 -8.43337471e-02 2.06838910e+02] [ 8.43545169e-02 -5.59735233e-05 9.96435804e-01 2.98240075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:206.90, Z:29.84 [[ 2.57206394e-02 -9.99667459e-01 -1.84933823e-03 2.43905483e+02] [ 9.96103844e-01 2.57849649e-02 -8.43342579e-02 2.06896561e+02] [ 8.43538985e-02 3.26998117e-04 9.96435805e-01 2.98386522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters Centerline goodness : 0.998365 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:206.95, Z:29.84 [[ 2.55956264e-02 -9.99670712e-01 -1.82549389e-03 2.43913395e+02] [ 9.96107069e-01 2.56583860e-02 -8.43347741e-02 2.06952923e+02] [ 8.43538428e-02 3.40213994e-04 9.96435805e-01 2.98445348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:207.01, Z:29.84 [[ 1.65835767e-02 -9.99860844e-01 -1.81039083e-03 2.43919271e+02] [ 9.96297879e-01 1.66771825e-02 -8.43350983e-02 2.07010461e+02] [ 8.43535548e-02 -4.05110972e-04 9.96435805e-01 2.98431144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:207.07, Z:29.84 [[ 7.52036557e-03 -9.99970131e-01 -1.78341699e-03 2.43926320e+02] [ 9.96408081e-01 7.64398702e-03 -8.43356687e-02 2.07069312e+02] [ 8.43467822e-02 -1.14277605e-03 9.96435805e-01 2.98427595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:207.13, Z:29.85 [[ 7.03749511e-03 -9.99973685e-01 -1.76163639e-03 2.43930679e+02] [ 9.96411631e-01 7.16100001e-03 -8.43361237e-02 2.07126599e+02] [ 8.43465195e-02 -1.16179993e-03 9.96435806e-01 2.98452273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29710568099995 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:207.18, Z:29.85 [[ 1.40325637e-02 -9.99900013e-01 -1.74655390e-03 2.43932873e+02] [ 9.96337148e-01 1.41298754e-02 -8.43364361e-02 2.07184914e+02] [ 8.43526821e-02 -5.56700126e-04 9.96435806e-01 2.98540182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35710568099995 meters Centerline goodness : 0.997869 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:207.24, Z:29.87 [[ 1.90995324e-02 -9.99816103e-01 -1.72258347e-03 2.43936185e+02] [ 9.96252746e-01 1.91767655e-02 -8.43369257e-02 2.07241274e+02] [ 8.43544500e-02 -1.05332671e-04 9.96435806e-01 2.98677603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41710568099995 meters Centerline goodness : 0.998502 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:207.30, Z:29.87 [[ 2.61746740e-02 -9.99655915e-01 -1.71422870e-03 2.43940666e+02] [ 9.96092090e-01 2.62259828e-02 -8.43370955e-02 2.07299258e+02] [ 8.43530337e-02 4.99966337e-04 9.96435806e-01 2.98717916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47710568099995 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:207.36, Z:29.88 [[ 3.69486834e-02 -9.99315735e-01 -1.69038110e-03 2.43937834e+02] [ 9.95751558e-01 3.69595618e-02 -8.43375735e-02 2.07357364e+02] [ 8.43423400e-02 1.43296270e-03 9.96435806e-01 2.98791513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53710568099996 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:207.41, Z:29.89 [[ 3.95688242e-02 -9.99215459e-01 -1.66578966e-03 2.43937781e+02] [ 9.95651266e-01 3.95682823e-02 -8.43380593e-02 2.07414806e+02] [ 8.43378050e-02 1.67861226e-03 9.96435807e-01 2.98909217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59710568099996 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:207.47, Z:29.89 [[ 3.89571204e-02 -9.99239536e-01 -1.64116550e-03 2.43932577e+02] [ 9.95675343e-01 3.89566829e-02 -8.43385385e-02 2.07474441e+02] [ 8.43383364e-02 1.65151858e-03 9.96435807e-01 2.98890909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65710568099996 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:207.53, Z:29.88 [[ 3.60436242e-02 -9.99348907e-01 -1.61851319e-03 2.43924831e+02] [ 9.95784723e-01 3.60516670e-02 -8.43389732e-02 2.07534209e+02] [ 8.43424108e-02 1.42819154e-03 9.96435807e-01 2.98837092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71710568099996 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:207.59, Z:29.88 [[ 2.30242616e-02 -9.99733614e-01 -1.60782786e-03 2.43905898e+02] [ 9.96169824e-01 2.30778251e-02 -8.43391769e-02 2.07592223e+02] [ 8.43538153e-02 3.40177675e-04 9.96435807e-01 2.98849941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77710568099997 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:207.65, Z:29.89 [[ 2.11864638e-03 -9.99996477e-01 -1.59926723e-03 2.43902216e+02] [ 9.96434560e-01 2.24598153e-03 -8.43393392e-02 2.07649303e+02] [ 8.43426340e-02 -1.41487990e-03 9.96435807e-01 2.98882241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83710568099997 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:207.71, Z:29.91 [[-3.25210054e-03 -9.99993457e-01 -1.58434389e-03 2.43905483e+02] [ 9.96432223e-01 -3.10689513e-03 -8.43396196e-02 2.07705604e+02] [ 8.43341453e-02 -1.85297223e-03 9.96435807e-01 2.99124567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89710568099997 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:207.76, Z:29.93 [[-1.64611362e-02 -9.99863285e-01 -1.56248215e-03 2.43900796e+02] [ 9.96304182e-01 -1.62707435e-02 -8.43400246e-02 2.07762970e+02] [ 8.43030714e-02 -2.94504013e-03 9.96435808e-01 2.99286625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.957105681 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:207.82, Z:29.93 [[-1.93203887e-02 -9.99812160e-01 -1.53849229e-03 2.43902922e+02] [ 9.96253503e-01 -1.91218396e-02 -8.43404622e-02 2.07820951e+02] [ 8.42952009e-02 -3.16221885e-03 9.96435808e-01 2.99272507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.017105681 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:207.88, Z:29.93 [[-1.10454515e-02 -9.99937826e-01 -1.53008740e-03 2.43904568e+02] [ 9.96377614e-01 -1.08770683e-02 -8.43406147e-02 2.07880023e+02] [ 8.43187281e-02 -2.45612500e-03 9.96435808e-01 2.99269975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.077105681 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:207.94, Z:29.93 [[ 6.62695936e-03 -9.99976906e-01 -1.50695032e-03 2.43901616e+02] [ 9.96414217e-01 6.73044969e-03 -8.43410281e-02 2.07939020e+02] [ 8.43492228e-02 -9.42622155e-04 9.96435808e-01 2.99261803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.137105681 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:208.00, Z:29.94 [[ 1.44277774e-02 -9.99894813e-01 -1.48406901e-03 2.43902679e+02] [ 9.96331385e-01 1.45015413e-02 -8.43414308e-02 2.07996424e+02] [ 8.43540804e-02 -2.61765139e-04 9.96435809e-01 2.99356234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.197105681 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:208.06, Z:29.93 [[ 2.06426189e-02 -9.99785849e-01 -1.46205372e-03 2.43904860e+02] [ 9.96222006e-01 2.06923748e-02 -8.43418124e-02 2.08055313e+02] [ 8.43540040e-02 2.84505810e-04 9.96435809e-01 2.99321763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.257105681 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:208.11, Z:29.96 [[ 1.10461259e-02 -9.99937953e-01 -1.44001741e-03 2.43904655e+02] [ 9.96374708e-01 1.11282252e-02 -8.43421887e-02 2.08110826e+02] [ 8.43529803e-02 -5.03142488e-04 9.96435809e-01 2.99572731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.317105681 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.17, Z:29.96 [[ 2.26927322e-02 -9.99741485e-01 -1.41549725e-03 2.43906700e+02] [ 9.96177502e-01 2.27312523e-02 -8.43426002e-02 2.08169282e+02] [ 8.43529724e-02 5.03877521e-04 9.96435809e-01 2.99597502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.377105681 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.23, Z:29.97 [[ 1.93405407e-02 -9.99811985e-01 -1.39216006e-03 2.43909147e+02] [ 9.96248125e-01 1.93890418e-02 -8.43429855e-02 2.08227398e+02] [ 8.43541204e-02 2.44302098e-04 9.96435810e-01 2.99672548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.29, Z:29.97 [[ 1.37494934e-02 -9.99904536e-01 -1.36775414e-03 2.43909680e+02] [ 9.96340964e-01 1.38158634e-02 -8.43433813e-02 2.08286286e+02] [ 8.43542262e-02 -2.03070715e-04 9.96435810e-01 2.99718918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.34, Z:29.97 [[ 1.55109677e-02 -9.99878795e-01 -1.34380039e-03 2.43911319e+02] [ 9.96315078e-01 1.55690393e-02 -8.43437629e-02 2.08344016e+02] [ 8.43544617e-02 -3.05952086e-05 9.96435810e-01 2.99731348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.40, Z:29.98 [[ 1.98107104e-02 -9.99802884e-01 -1.31521427e-03 2.43912201e+02] [ 9.96238922e-01 1.98510444e-02 -8.43442087e-02 2.08402748e+02] [ 8.43536915e-02 3.60651041e-04 9.96435811e-01 2.99769681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.46, Z:29.97 [[ 3.05706410e-02 -9.99531776e-01 -1.29047704e-03 2.43905613e+02] [ 9.95967587e-01 3.05705261e-02 -8.43445872e-02 2.08459879e+02] [ 8.43445456e-02 1.29319480e-03 9.96435811e-01 2.99724959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.52, Z:29.98 [[ 2.95529139e-02 -9.99562409e-01 -1.27110849e-03 2.43908123e+02] [ 9.95998221e-01 2.95547941e-02 -8.43448791e-02 2.08517301e+02] [ 8.43455379e-02 1.22661516e-03 9.96435811e-01 2.99786207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.57, Z:29.99 [[ 2.99189168e-02 -9.99551531e-01 -1.26266869e-03 2.43911847e+02] [ 9.95987343e-01 2.99187798e-02 -8.43450055e-02 2.08574549e+02] [ 8.43449569e-02 1.26590916e-03 9.96435811e-01 2.99923471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79710568099995 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.63, Z:30.00 [[ 3.60112598e-02 -9.99350620e-01 -1.23563554e-03 2.43913935e+02] [ 9.95786514e-01 3.59871164e-02 -8.43454015e-02 2.08633249e+02] [ 8.43350963e-02 1.80695497e-03 9.96435812e-01 2.99992900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85710568099995 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:208.69, Z:30.01 [[ 3.17154369e-02 -9.99496205e-01 -1.21118409e-03 2.43917685e+02] [ 9.95932034e-01 3.17045504e-02 -8.43457527e-02 2.08690387e+02] [ 8.43416598e-02 1.46880537e-03 9.96435812e-01 3.00099133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91710568099995 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:208.75, Z:30.01 [[ 3.10362237e-02 -9.99517537e-01 -1.20270145e-03 2.43918093e+02] [ 9.95953360e-01 3.10270436e-02 -8.43458736e-02 2.08747960e+02] [ 8.43424961e-02 1.41994285e-03 9.96435812e-01 3.00115312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97710568099995 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:208.81, Z:30.01 [[ 3.54439802e-02 -9.99370973e-01 -1.17578021e-03 2.43917870e+02] [ 9.95806889e-01 3.54168104e-02 -8.43462490e-02 2.08806004e+02] [ 8.43348353e-02 1.81871675e-03 9.96435812e-01 3.00138669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03710568099996 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:208.86, Z:30.02 [[ 3.34458186e-02 -9.99439871e-01 -1.14932093e-03 2.43913580e+02] [ 9.95875753e-01 3.34235427e-02 -8.43466095e-02 2.08864721e+02] [ 8.43377789e-02 1.67646056e-03 9.96435813e-01 3.00162551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09710568099996 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:208.92, Z:30.01 [[ 3.41820104e-02 -9.99414990e-01 -1.12574841e-03 2.43915407e+02] [ 9.95850905e-01 3.41551205e-02 -8.43469242e-02 2.08923630e+02] [ 8.43360305e-02 1.76206987e-03 9.96435813e-01 3.00142116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15710568099996 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:208.98, Z:30.03 [[ 4.03398175e-02 -9.99185410e-01 -1.10230649e-03 2.43916755e+02] [ 9.95621586e-01 4.02889885e-02 -8.43472305e-02 2.08981193e+02] [ 8.43229330e-02 2.30507175e-03 9.96435813e-01 3.00281347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21710568099996 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.04, Z:30.03 [[ 3.83313458e-02 -9.99264502e-01 -1.07808362e-03 2.43921108e+02] [ 9.95700609e-01 3.82856370e-02 -8.43475402e-02 2.09038736e+02] [ 8.43267779e-02 2.15970621e-03 9.96435813e-01 3.00344903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27710568099997 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.10, Z:30.05 [[ 3.93779152e-02 -9.99223817e-01 -1.06959182e-03 2.43928239e+02] [ 9.95659983e-01 3.93277574e-02 -8.43476478e-02 2.09096592e+02] [ 8.43242433e-02 2.25648475e-03 9.96435813e-01 3.00489978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33710568099997 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.15, Z:30.06 [[ 4.11484779e-02 -9.99152497e-01 -1.04457641e-03 2.43933387e+02] [ 9.95588792e-01 4.10898951e-02 -8.43479577e-02 2.09153157e+02] [ 8.43193940e-02 2.43082151e-03 9.96435814e-01 3.00596551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39710568099997 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.21, Z:30.06 [[ 4.87108330e-02 -9.98812391e-01 -1.03111954e-03 2.43930659e+02] [ 9.95249259e-01 4.86241400e-02 -8.43481222e-02 2.09211144e+02] [ 8.42980869e-02 3.08244634e-03 9.96435814e-01 3.00644882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.457105681 meters Centerline goodness : 0.998588 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.27, Z:30.07 [[ 6.14550816e-02 -9.98109346e-01 -1.00344100e-03 2.43921719e+02] [ 9.94547699e-01 6.13205847e-02 -8.43484515e-02 2.09268318e+02] [ 8.42505093e-02 4.18567103e-03 9.96435814e-01 3.00688873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.517105681 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.33, Z:30.07 [[ 5.72127554e-02 -9.98361520e-01 -9.88346752e-04 2.43920505e+02] [ 9.94799376e-01 5.70921234e-02 -8.43486284e-02 2.09325777e+02] [ 8.42668516e-02 3.84261071e-03 9.96435814e-01 3.00733660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.577105681 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.38, Z:30.08 [[ 4.56300274e-02 -9.98957946e-01 -9.60078123e-04 2.43922960e+02] [ 9.95394698e-01 4.55483327e-02 -8.43489502e-02 2.09384145e+02] [ 8.43047840e-02 2.89318823e-03 9.96435815e-01 3.00796674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.637105681 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.44, Z:30.07 [[ 3.73159268e-02 -9.99303081e-01 -9.35280330e-04 2.43924234e+02] [ 9.95739307e-01 3.72617938e-02 -8.43492251e-02 2.09444090e+02] [ 8.43252908e-02 2.21627413e-03 9.96435815e-01 3.00709064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.697105681 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.50, Z:30.08 [[ 2.72364303e-02 -9.99628603e-01 -9.12120869e-04 2.43922547e+02] [ 9.96064476e-01 2.72162857e-02 -8.43494756e-02 2.09502663e+02] [ 8.43429730e-02 1.38884742e-03 9.96435815e-01 3.00824267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.757105681 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.56, Z:30.08 [[ 2.38762258e-02 -9.99714524e-01 -8.92731495e-04 2.43918726e+02] [ 9.96150353e-01 2.38664257e-02 -8.43496808e-02 2.09560907e+02] [ 8.43469073e-02 1.12465724e-03 9.96435816e-01 3.00781468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.817105681 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.62, Z:30.09 [[ 1.41574811e-02 -9.99899387e-01 -8.84173885e-04 2.43921959e+02] [ 9.96335284e-01 1.41816047e-02 -8.43497705e-02 2.09618270e+02] [ 8.43538229e-02 3.13246647e-04 9.96435816e-01 3.00917314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.877105681 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.68, Z:30.10 [[ 5.20119433e-03 -9.99986104e-01 -8.60156467e-04 2.43924961e+02] [ 9.96422329e-01 5.25521341e-03 -8.43500155e-02 2.09676584e+02] [ 8.43533636e-02 -4.18358288e-04 9.96435816e-01 3.00960614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.74, Z:30.10 [[-1.91089643e-03 -9.99997825e-01 -8.35920044e-04 2.43927538e+02] [ 9.96434480e-01 -1.83357701e-03 -8.43502557e-02 2.09735669e+02] [ 8.43485395e-02 -9.94124157e-04 9.96435816e-01 3.00963973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.79, Z:30.10 [[-6.25139415e-03 -9.99980131e-01 -8.11582318e-04 2.43927507e+02] [ 9.96417102e-01 -6.16066108e-03 -8.43504899e-02 2.09794150e+02] [ 8.43438140e-02 -1.33598266e-03 9.96435816e-01 3.01043559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:209.85, Z:30.11 [[-5.34753079e-03 -9.99985394e-01 -7.85269795e-04 2.43929041e+02] [ 9.96422231e-01 -5.26223733e-03 -8.43507349e-02 2.09852197e+02] [ 8.43453705e-02 -1.23352843e-03 9.96435817e-01 3.01073629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.91, Z:30.12 [[ 4.52773991e-03 -9.99989449e-01 -7.76097411e-04 2.43924681e+02] [ 9.96425607e-01 4.57706874e-03 -8.43508193e-02 2.09910079e+02] [ 8.43534815e-02 -3.91404762e-04 9.96435817e-01 3.01192480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:209.97, Z:30.13 [[ 1.76604243e-02 -9.99843759e-01 -7.52465599e-04 2.43923767e+02] [ 9.96279577e-01 1.76609507e-02 -8.43510301e-02 2.09967764e+02] [ 8.43511403e-02 7.40008876e-04 9.96435817e-01 3.01261840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:210.03, Z:30.12 [[ 2.69645993e-02 -9.99636123e-01 -7.29514807e-04 2.43927531e+02] [ 9.96072108e-01 2.69300200e-02 -8.43512286e-02 2.10027275e+02] [ 8.43401810e-02 1.54784773e-03 9.96435817e-01 3.01232667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29710568099995 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:210.09, Z:30.13 [[ 2.51361940e-02 -9.99683779e-01 -7.16863826e-04 2.43931560e+02] [ 9.96119715e-01 2.51070662e-02 -8.43513361e-02 2.10085846e+02] [ 8.43426608e-02 1.40618936e-03 9.96435817e-01 3.01310529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35710568099995 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:210.14, Z:30.14 [[ 2.01190415e-02 -9.99797351e-01 -6.93652012e-04 2.43934059e+02] [ 9.96233193e-01 2.01058420e-02 -8.43515270e-02 2.10143532e+02] [ 8.43483797e-02 1.00603271e-03 9.96435818e-01 3.01424539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41710568099995 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.20, Z:30.15 [[ 6.58725111e-03 -9.99978079e-01 -6.69870795e-04 2.43936993e+02] [ 9.96414050e-01 6.62027944e-03 -8.43517159e-02 2.10202517e+02] [ 8.43543016e-02 -1.11822737e-04 9.96435818e-01 3.01469803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47710568099995 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.26, Z:30.15 [[-1.27017055e-02 -9.99919120e-01 -6.47833549e-04 2.43938706e+02] [ 9.96356339e-01 -1.26017980e-02 -8.43518852e-02 2.10260318e+02] [ 8.43368990e-02 -1.71688587e-03 9.96435818e-01 3.01469883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53710568099996 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.32, Z:30.15 [[-3.21642044e-02 -9.99482406e-01 -6.19365656e-04 2.43939494e+02] [ 9.95922132e-01 -3.19973599e-02 -8.43520942e-02 2.10317884e+02] [ 8.42886161e-02 -3.32995796e-03 9.96435819e-01 3.01473846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59710568099996 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.38, Z:30.15 [[-3.88269945e-02 -9.99245761e-01 -6.10669330e-04 2.43939515e+02] [ 9.95686640e-01 -3.86371500e-02 -8.43521572e-02 2.10376534e+02] [ 8.42649410e-02 -3.88317603e-03 9.96435819e-01 3.01452096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65710568099996 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.43, Z:30.14 [[-3.31975860e-02 -9.99448627e-01 -6.01862405e-04 2.43936910e+02] [ 9.95888457e-01 -3.30285353e-02 -8.43522201e-02 2.10434719e+02] [ 8.42858319e-02 -3.39967790e-03 9.96435819e-01 3.01442814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71710568099996 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.49, Z:30.15 [[-2.56042138e-02 -9.99671994e-01 -5.73964788e-04 2.43939444e+02] [ 9.96110550e-01 -2.54645647e-02 -8.43524099e-02 2.10492488e+02] [ 8.43101260e-02 -2.73150952e-03 9.96435819e-01 3.01479654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77710568099997 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.55, Z:30.15 [[-2.77840448e-02 -9.99613800e-01 -5.45694935e-04 2.43939617e+02] [ 9.96052571e-01 -2.76390127e-02 -8.43525928e-02 2.10549200e+02] [ 8.43049334e-02 -2.88719706e-03 9.96435819e-01 3.01518846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83710568099997 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.61, Z:30.16 [[-3.39464289e-02 -9.99423511e-01 -5.33670460e-04 2.43942847e+02] [ 9.95863197e-01 -3.37804568e-02 -8.43526689e-02 2.10606494e+02] [ 8.42860129e-02 -3.39493465e-03 9.96435820e-01 3.01603998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89710568099997 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.66, Z:30.18 [[-4.16683557e-02 -9.99131369e-01 -5.05676532e-04 2.43944501e+02] [ 9.95572317e-01 -4.14772346e-02 -8.43528368e-02 2.10663723e+02] [ 8.42585912e-02 -4.01828157e-03 9.96435820e-01 3.01791878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.957105681 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.72, Z:30.18 [[-3.66082666e-02 -9.99329577e-01 -4.81164908e-04 2.43944095e+02] [ 9.95769503e-01 -3.64372361e-02 -8.43529766e-02 2.10721790e+02] [ 8.42788921e-02 -3.56714559e-03 9.96435820e-01 3.01806427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.017105681 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:210.78, Z:30.19 [[-3.06637410e-02 -9.99529645e-01 -4.72426323e-04 2.43947976e+02] [ 9.95968586e-01 -3.05146249e-02 -8.43530255e-02 2.10779260e+02] [ 8.42989338e-02 -3.05710110e-03 9.96435820e-01 3.01870410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.077105681 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:210.84, Z:30.19 [[-2.40522080e-02 -9.99710604e-01 -4.45811406e-04 2.43952075e+02] [ 9.96148559e-01 -2.39288916e-02 -8.43531662e-02 2.10837519e+02] [ 8.43180870e-02 -2.47297429e-03 9.96435821e-01 3.01913341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.137105681 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:210.89, Z:30.20 [[-2.02631399e-02 -9.99794593e-01 -4.21137284e-04 2.43942477e+02] [ 9.96232042e-01 -2.01554050e-02 -8.43532895e-02 2.10894145e+02] [ 8.43274745e-02 -2.12881296e-03 9.96435821e-01 3.01960475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.197105681 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:210.95, Z:30.20 [[-1.79646293e-02 -9.99838541e-01 -4.06136565e-04 2.43945569e+02] [ 9.96275717e-01 -1.78663497e-02 -8.43533617e-02 2.10951146e+02] [ 8.43324859e-02 -1.92000087e-03 9.96435821e-01 3.01974615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.257105681 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:211.01, Z:30.21 [[-2.37050718e-02 -9.99718918e-01 -3.93042319e-04 2.43944627e+02] [ 9.96156681e-01 -2.35874412e-02 -8.43534227e-02 2.11007983e+02] [ 8.43204416e-02 -2.39113567e-03 9.96435821e-01 3.02075448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.317105681 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:211.07, Z:30.20 [[-3.23627249e-02 -9.99476123e-01 -3.64453036e-04 2.43945449e+02] [ 9.95914939e-01 -3.22166558e-02 -8.43535463e-02 2.11066135e+02] [ 8.42976140e-02 -3.09287483e-03 9.96435822e-01 3.02023316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.377105681 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:211.12, Z:30.20 [[-4.04270246e-02 -9.99182430e-01 -3.55696319e-04 2.43944360e+02] [ 9.95622505e-01 -4.02529608e-02 -8.43535832e-02 2.11124429e+02] [ 8.42703004e-02 -3.76430364e-03 9.96435822e-01 3.02044825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:211.18, Z:30.21 [[-5.81620172e-02 -9.98307102e-01 -3.32110031e-04 2.43935879e+02] [ 9.94750697e-01 -5.79267565e-02 -8.43536761e-02 2.11181142e+02] [ 8.41916358e-02 -5.23654664e-03 9.96435822e-01 3.02093058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.24, Z:30.22 [[-4.63548078e-02 -9.98924989e-01 -3.13745770e-04 2.43930612e+02] [ 9.95365967e-01 -4.61631583e-02 -8.43537444e-02 2.11238892e+02] [ 8.42485797e-02 -4.22249347e-03 9.96435822e-01 3.02178582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.30, Z:30.22 [[-4.99208694e-02 -9.98753135e-01 -2.85995740e-04 2.43929033e+02] [ 9.95194687e-01 -4.97188518e-02 -8.43538385e-02 2.11296983e+02] [ 8.42344413e-02 -4.49563840e-03 9.96435822e-01 3.02239373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.35, Z:30.23 [[-5.68906270e-02 -9.98380382e-01 -2.62331469e-04 2.43925615e+02] [ 9.94823305e-01 -5.66657697e-02 -8.43539121e-02 2.11354535e+02] [ 8.42024258e-02 -5.05992041e-03 9.96435823e-01 3.02311030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.41, Z:30.23 [[-4.58975353e-02 -9.98946121e-01 -2.50318481e-04 2.43926740e+02] [ 9.95386732e-01 -4.57128582e-02 -8.43539478e-02 2.11412272e+02] [ 8.42536062e-02 -4.12080199e-03 9.96435823e-01 3.02341927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.47, Z:30.25 [[-3.72411374e-02 -9.99306283e-01 -2.24943106e-04 2.43925351e+02] [ 9.95745336e-01 -3.70894435e-02 -8.43540155e-02 2.11468154e+02] [ 8.42871546e-02 -3.36542553e-03 9.96435823e-01 3.02470970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79710568099995 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.53, Z:30.26 [[-2.45047657e-02 -9.99699693e-01 -2.02002842e-04 2.43926530e+02] [ 9.96137045e-01 -2.44003927e-02 -8.43540704e-02 2.11526363e+02] [ 8.43238093e-02 -2.26829924e-03 9.96435823e-01 3.02608572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85710568099995 meters Centerline goodness : 0.998536 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.58, Z:30.26 [[-1.29311602e-02 -9.99916373e-01 -1.80906002e-04 2.43931529e+02] [ 9.96352724e-01 -1.28698128e-02 -8.43541157e-02 2.11584601e+02] [ 8.43447332e-02 -1.27104277e-03 9.96435824e-01 3.02582821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91710568099995 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.64, Z:30.26 [[-5.48681939e-03 -9.99984935e-01 -1.53959747e-04 2.43930675e+02] [ 9.96420908e-01 -5.45427658e-03 -8.43541649e-02 2.11641883e+02] [ 8.43520544e-02 -6.16244779e-04 9.96435824e-01 3.02586283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97710568099995 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.70, Z:30.27 [[ 2.26533581e-03 -9.99997425e-01 -1.38546998e-04 2.43932998e+02] [ 9.96433250e-01 2.26894879e-03 -8.43541902e-02 2.11699457e+02] [ 8.43542873e-02 5.30377330e-05 9.96435824e-01 3.02651328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03710568099996 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.76, Z:30.27 [[ 1.23962990e-03 -9.99999225e-01 -1.12503866e-04 2.43934186e+02] [ 9.96435053e-01 1.24470183e-03 -8.43542250e-02 2.11758347e+02] [ 8.43542997e-02 -7.53477628e-06 9.96435824e-01 3.02666877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09710568099996 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:211.82, Z:30.27 [[-3.05632817e-03 -9.99995325e-01 -8.98121039e-05 2.43933373e+02] [ 9.96431198e-01 -3.03785890e-03 -8.43542492e-02 2.11816814e+02] [ 8.43535820e-02 -3.47305850e-04 9.96435825e-01 3.02743273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15710568099996 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:211.88, Z:30.27 [[-5.52365260e-03 -9.99984742e-01 -6.70226010e-05 2.43941967e+02] [ 9.96420657e-01 -5.49831180e-03 -8.43542673e-02 2.11875402e+02] [ 8.43526117e-02 -5.32726372e-04 9.96435825e-01 3.02665182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21710568099996 meters Centerline goodness : 0.998073 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:211.93, Z:30.28 [[-1.06241538e-02 -9.99943561e-01 -4.11693363e-05 2.43943646e+02] [ 9.96379626e-01 -1.05828149e-02 -8.43542799e-02 2.11933353e+02] [ 8.43490834e-02 -9.37213135e-04 9.96435825e-01 3.02778934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27710568099997 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:211.99, Z:30.28 [[-8.83874839e-03 -9.99960937e-01 -1.92390168e-05 2.43949927e+02] [ 9.96396917e-01 -8.80562272e-03 -8.43542850e-02 2.11992652e+02] [ 8.43508205e-02 -7.64755997e-04 9.96435825e-01 3.02784887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33710568099997 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:212.19, Z:30.31 [[-1.78615128e-02 -9.99840470e-01 1.01799486e-06 2.43938375e+02] [ 9.96276863e-01 -1.77979371e-02 -8.43542847e-02 2.12188982e+02] [ 8.43408459e-02 -1.50568093e-03 9.96435826e-01 3.03111279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39710568099997 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:212.25, Z:30.31 [[-7.53843917e-03 -9.99971585e-01 -4.52557006e-05 2.43952976e+02] [ 9.96407543e-01 -7.50775348e-03 -8.43542600e-02 2.12247496e+02] [ 8.43515233e-02 -6.80992579e-04 9.96435827e-01 3.03063227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.457105681 meters Centerline goodness : 0.997925 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:212.30, Z:30.31 [[-1.67771522e-02 -9.99859254e-01 -1.80007866e-05 2.43954674e+02] [ 9.96295608e-01 -1.67158373e-02 -8.43542659e-02 2.12304773e+02] [ 8.43420924e-02 -1.43315846e-03 9.96435827e-01 3.03068763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.517105681 meters Centerline goodness : 0.997970 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:212.36, Z:30.31 [[-2.90822195e-02 -9.99577023e-01 -3.24829907e-06 2.43951034e+02] [ 9.96014366e-01 -2.89782916e-02 -8.43542664e-02 2.12362823e+02] [ 8.43184924e-02 -2.45644465e-03 9.96435827e-01 3.03131361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.577105681 meters Centerline goodness : 0.997822 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:212.35, Z:30.32 [[-2.08527793e-02 -9.99782557e-01 1.70416512e-05 2.43954768e+02] [ 9.96219130e-01 -2.07798937e-02 -8.43542624e-02 2.12348040e+02] [ 8.43362742e-02 -1.74204360e-03 9.96435827e-01 3.03210377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.637105681 meters Centerline goodness : 0.996060 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:212.41, Z:30.33 [[-1.77749562e-02 -9.99842010e-01 -8.30547357e-05 2.43931076e+02] [ 9.96278536e-01 -1.77045985e-02 -8.43541642e-02 2.12405162e+02] [ 8.43393666e-02 -1.58213723e-03 9.96435832e-01 3.03320778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.697105681 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:212.46, Z:30.34 [[ 2.57497048e-02 -9.99668420e-01 -5.50158917e-05 2.43938026e+02] [ 9.96105318e-01 2.56625679e-02 -8.43541825e-02 2.12461939e+02] [ 8.43276242e-02 2.11729368e-03 9.96435833e-01 3.03416950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.757105681 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:212.52, Z:30.35 [[ 3.68734678e-02 -9.99319942e-01 -2.42195978e-05 2.43931737e+02] [ 9.95758125e-01 3.67440863e-02 -8.43541914e-02 2.12520853e+02] [ 8.42977156e-02 3.08631470e-03 9.96435833e-01 3.03461275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.817105681 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:212.58, Z:30.35 [[ 2.35223952e-02 -9.99723310e-01 -1.89469741e-06 2.43937423e+02] [ 9.96160126e-01 2.34387172e-02 -8.43541919e-02 2.12578695e+02] [ 8.43308964e-02 1.98232522e-03 9.96435834e-01 3.03527844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.877105681 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:212.60, Z:30.35 [[ 1.19829618e-02 -9.99928202e-01 2.05377376e-05 2.43933510e+02] [ 9.96364312e-01 1.19385202e-02 -8.43541865e-02 2.12600119e+02] [ 8.43478848e-02 1.03127606e-03 9.96435834e-01 3.03526225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:212.66, Z:30.36 [[ 4.45588598e-03 -9.99990048e-01 -2.22394570e-04 2.43935840e+02] [ 9.96425912e-01 4.45876440e-03 -8.43535485e-02 2.12658427e+02] [ 8.43537006e-02 1.54270083e-04 9.96435863e-01 3.03598780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:212.72, Z:30.36 [[-2.88364462e-03 -9.99995822e-01 -1.99259753e-04 2.43934080e+02] [ 9.96431789e-01 -2.85655882e-03 -8.43536032e-02 2.12716215e+02] [ 8.43526816e-02 -4.41794565e-04 9.96435863e-01 3.03562920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:212.77, Z:30.37 [[-1.76470869e-02 -9.99844261e-01 -1.85910310e-04 2.43923922e+02] [ 9.96280991e-01 -1.75685111e-02 -8.43536326e-02 2.12773662e+02] [ 8.43372293e-02 -1.67381479e-03 9.96435864e-01 3.03665970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters Centerline goodness : 0.998251 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:212.83, Z:30.37 [[-2.84124578e-02 -9.99596272e-01 -1.61548993e-04 2.43922213e+02] [ 9.96033988e-01 -2.82975709e-02 -8.43536793e-02 2.12832088e+02] [ 8.43150519e-02 -2.55760364e-03 9.96435864e-01 3.03745995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:212.89, Z:30.38 [[-3.56405916e-02 -9.99364663e-01 -1.39100351e-04 2.43918169e+02] [ 9.95803229e-01 -3.55018382e-02 -8.43537163e-02 2.12890396e+02] [ 8.42951849e-02 -3.14493294e-03 9.96435864e-01 3.03773897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:212.95, Z:30.38 [[-2.18255867e-02 -9.99761787e-01 -1.16732721e-04 2.43903744e+02] [ 9.96198729e-01 -2.17379531e-02 -8.43537473e-02 2.12948668e+02] [ 8.43311156e-02 -1.95735901e-03 9.96435864e-01 3.03833721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29710568099995 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.01, Z:30.39 [[-6.33482158e-03 -9.99979930e-01 -9.42451797e-05 2.43893584e+02] [ 9.96415926e-01 -6.30429369e-03 -8.43537725e-02 2.13006631e+02] [ 8.43514854e-02 -6.28273496e-04 9.96435865e-01 3.03941751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35710568099995 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.06, Z:30.40 [[-7.77429177e-03 -9.99969777e-01 -6.95951111e-05 2.43889888e+02] [ 9.96405800e-01 -7.74071274e-03 -8.43537928e-02 2.13063670e+02] [ 8.43507047e-02 -7.25135969e-04 9.96435865e-01 3.04010144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41710568099995 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.12, Z:30.41 [[-6.66597108e-03 -9.99977781e-01 -5.72945870e-05 2.43891960e+02] [ 9.96413760e-01 -6.63737977e-03 -8.43538012e-02 2.13121441e+02] [ 8.43515466e-02 -6.19389114e-04 9.96435865e-01 3.04076045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47710568099995 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.18, Z:30.41 [[ 1.00200294e-02 -9.99949798e-01 -3.19290985e-05 2.43897802e+02] [ 9.96385816e-01 9.98700984e-03 -8.43538108e-02 2.13180242e+02] [ 8.43498949e-02 8.13413960e-04 9.96435865e-01 3.04120109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53710568099996 meters Centerline goodness : 0.998453 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.24, Z:30.42 [[ 2.56146828e-02 -9.99671890e-01 -9.30042880e-06 2.43901178e+02] [ 9.96108905e-01 2.55241729e-02 -8.43538133e-02 2.13238279e+02] [ 8.43263734e-02 2.15143193e-03 9.96435866e-01 3.04222791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59710568099996 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.27, Z:30.42 [[ 4.23174284e-02 -9.99104216e-01 1.37542905e-05 2.43901011e+02] [ 9.95543324e-01 4.21654442e-02 -8.43538096e-02 2.13270426e+02] [ 8.42776669e-02 3.58332929e-03 9.96435866e-01 3.04229469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65710568099996 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.33, Z:30.43 [[ 4.53908200e-02 -9.98969299e-01 -1.15909304e-04 2.43900613e+02] [ 9.95408416e-01 4.52388094e-02 -8.43536321e-02 2.13326207e+02] [ 8.42719323e-02 3.71350344e-03 9.96435874e-01 3.04339381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71710568099996 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.38, Z:30.43 [[ 3.88484210e-02 -9.99245110e-01 -1.01204362e-04 2.43897514e+02] [ 9.95683353e-01 3.87184912e-02 -8.43536498e-02 2.13384590e+02] [ 8.42938905e-02 3.17623860e-03 9.96435874e-01 3.04344496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77710568099997 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.44, Z:30.43 [[ 3.30658543e-02 -9.99453172e-01 -7.79131108e-05 2.43893685e+02] [ 9.95890784e-01 3.29545723e-02 -8.43536713e-02 2.13443359e+02] [ 8.43101120e-02 2.71163326e-03 9.96435875e-01 3.04282052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83710568099997 meters Centerline goodness : 0.998365 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.50, Z:30.44 [[ 1.34878915e-02 -9.99909033e-01 -5.14318595e-05 2.43885901e+02] [ 9.96345176e-01 1.34441571e-02 -8.43536875e-02 2.13501234e+02] [ 8.43467055e-02 1.08650950e-03 9.96435875e-01 3.04411945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89710568099997 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:213.56, Z:30.46 [[ 9.54024061e-03 -9.99954490e-01 -2.87646810e-05 2.43884422e+02] [ 9.96390506e-01 9.50866431e-03 -8.43536952e-02 2.13558434e+02] [ 8.43501299e-02 7.76093694e-04 9.96435875e-01 3.04583183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.957105681 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.62, Z:30.46 [[ 1.25071159e-02 -9.99921783e-01 -6.13604481e-06 2.43887116e+02] [ 9.96357931e-01 1.24630566e-02 -8.43536969e-02 2.13616723e+02] [ 8.43471755e-02 1.04890777e-03 9.96435875e-01 3.04615349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.017105681 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.63, Z:30.45 [[ 2.25575513e-02 -9.99745546e-01 1.63831687e-05 2.43892109e+02] [ 9.96182360e-01 2.24757717e-02 -8.43536926e-02 2.13625266e+02] [ 8.43318602e-02 1.91913337e-03 9.96435876e-01 3.04540385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.077105681 meters Centerline goodness : 0.998205 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.68, Z:30.46 [[ 2.37677520e-02 -9.99717501e-01 -1.09319968e-04 2.43888322e+02] [ 9.96154184e-01 2.36922601e-02 -8.43535303e-02 2.13682805e+02] [ 8.43322906e-02 1.89599424e-03 9.96435884e-01 3.04589825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.137105681 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:213.74, Z:30.47 [[ 2.80832535e-02 -9.99605583e-01 -9.72050793e-05 2.43894671e+02] [ 9.96042651e-01 2.79913582e-02 -8.43535443e-02 2.13740449e+02] [ 8.43229947e-02 2.27210156e-03 9.96435884e-01 3.04720187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.197105681 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.80, Z:30.47 [[ 3.18737597e-02 -9.99491900e-01 -7.35227284e-05 2.43903936e+02] [ 9.95929402e-01 3.17663569e-02 -8.43535649e-02 2.13798775e+02] [ 8.43130404e-02 2.61544181e-03 9.96435884e-01 3.04731908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.257105681 meters Centerline goodness : 0.998228 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:213.86, Z:30.49 [[ 3.77904530e-02 -9.99285684e-01 -6.07105671e-05 2.43903914e+02] [ 9.95723924e-01 3.76608810e-02 -8.43535742e-02 2.13855041e+02] [ 8.42956055e-02 3.12730881e-03 9.96435884e-01 3.04902968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.317105681 meters Centerline goodness : 0.998003 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:213.91, Z:30.50 [[ 4.66700214e-02 -9.98910360e-01 -4.84902181e-05 2.43912534e+02] [ 9.95349939e-01 4.65077700e-02 -8.43535812e-02 2.13913344e+02] [ 8.42639213e-02 3.88851870e-03 9.96435884e-01 3.04956077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.377105681 meters Centerline goodness : 0.997939 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:213.97, Z:30.50 [[ 4.70873512e-02 -9.98890775e-01 -2.50228172e-05 2.43916131e+02] [ 9.95330514e-01 4.69216348e-02 -8.43535882e-02 2.13972166e+02] [ 8.42611952e-02 3.94708106e-03 9.96435884e-01 3.04952801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:214.03, Z:30.50 [[ 5.53531079e-02 -9.98466841e-01 -1.51396562e-06 2.43925207e+02] [ 9.94908183e-01 5.51559506e-02 -8.43535886e-02 2.14029141e+02] [ 8.42243447e-02 4.66772704e-03 9.96435885e-01 3.05018792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters Centerline goodness : 0.998040 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:214.07, Z:30.50 [[ 5.42899230e-02 -9.98525214e-01 2.56571891e-05 2.43914070e+02] [ 9.94966474e-01 5.40942664e-02 -8.43535804e-02 2.14065582e+02] [ 8.42277890e-02 4.60507742e-03 9.96435885e-01 3.05006030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.12, Z:30.50 [[ 5.70813624e-02 -9.98369487e-01 -2.90917157e-04 2.43900656e+02] [ 9.94809917e-01 5.69024251e-02 -8.43524928e-02 2.14124482e+02] [ 8.42315089e-02 4.52554794e-03 9.96435935e-01 3.05018041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters Centerline goodness : 0.997855 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.18, Z:30.50 [[ 3.58446223e-02 -9.99357339e-01 -2.68105703e-04 2.43900543e+02] [ 9.95794826e-01 3.57394732e-02 -8.43525653e-02 2.14183049e+02] [ 8.43079372e-02 2.75660757e-03 9.96435935e-01 3.05049769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.24, Z:30.51 [[ 1.34005916e-02 -9.99910178e-01 -2.46082437e-04 2.43899206e+02] [ 9.96346215e-01 1.33735876e-02 -8.43526296e-02 2.14240870e+02] [ 8.43483439e-02 8.85191833e-04 9.96435935e-01 3.05103687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters Centerline goodness : 0.998279 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:214.30, Z:30.54 [[-1.46176347e-02 -9.99893132e-01 -2.20845458e-04 2.43889038e+02] [ 9.96329770e-01 -1.45469103e-02 -8.43526957e-02 2.14297772e+02] [ 8.43404685e-02 -1.45307179e-03 9.96435936e-01 3.05352347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79710568099995 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:214.36, Z:30.54 [[-1.97737985e-02 -9.99804459e-01 -1.99508635e-04 2.43891595e+02] [ 9.96241465e-01 -1.96864983e-02 -8.43527462e-02 2.14356308e+02] [ 8.43323242e-02 -1.86673298e-03 9.96435936e-01 3.05413242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85710568099995 meters Centerline goodness : 0.998287 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.41, Z:30.54 [[-2.21492457e-02 -9.99754660e-01 -1.75988200e-04 2.43895902e+02] [ 9.96191830e-01 -2.20554636e-02 -8.43527953e-02 2.14414277e+02] [ 8.43282187e-02 -2.04366879e-03 9.96435936e-01 3.05388504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91710568099995 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.47, Z:30.55 [[-1.75063755e-02 -9.99846739e-01 -1.62004667e-04 2.43895843e+02] [ 9.96283486e-01 -1.74303186e-02 -8.43528222e-02 2.14472266e+02] [ 8.43370703e-02 -1.63811475e-03 9.96435936e-01 3.05508465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97710568099995 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.53, Z:30.55 [[-1.37235917e-02 -9.99905817e-01 -1.38904506e-04 2.43897930e+02] [ 9.96342270e-01 -1.36629643e-02 -8.43528602e-02 2.14530623e+02] [ 8.43430178e-02 -1.29602064e-03 9.96435937e-01 3.05495865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03710568099996 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:214.59, Z:30.55 [[-8.86462771e-03 -9.99960702e-01 -1.11626989e-04 2.43895467e+02] [ 9.96396875e-01 -8.82361804e-03 -8.43528963e-02 2.14590326e+02] [ 8.43485965e-02 -8.58981805e-04 9.96435937e-01 3.05464334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09710568099996 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:214.65, Z:30.55 [[-7.74615827e-03 -9.99969993e-01 -9.81525651e-05 2.43893623e+02] [ 9.96406111e-01 -7.71027134e-03 -8.43529120e-02 2.14649012e+02] [ 8.43496241e-02 -7.51210823e-04 9.96435937e-01 3.05482515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15710568099996 meters Centerline goodness : 0.998446 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:214.71, Z:30.56 [[-1.59683460e-02 -9.99872495e-01 -7.48206850e-05 2.43890425e+02] [ 9.96308993e-01 -1.59051234e-02 -8.43529328e-02 2.14706133e+02] [ 8.43409873e-02 -1.42152134e-03 9.96435937e-01 3.05618504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21710568099996 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:214.76, Z:30.56 [[-1.56246778e-02 -9.99877926e-01 -5.29048372e-05 2.43880053e+02] [ 9.96314371e-01 -1.55645284e-02 -8.43529465e-02 2.14764406e+02] [ 8.43418258e-02 -1.37069746e-03 9.96435938e-01 3.05639698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27710568099997 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:214.82, Z:30.59 [[-5.92266274e-03 -9.99982460e-01 -2.86862852e-05 2.43879181e+02] [ 9.96418476e-01 -5.89913427e-03 -8.43529548e-02 2.14821371e+02] [ 8.43513060e-02 -5.28177647e-04 9.96435938e-01 3.05860328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33710568099997 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:214.88, Z:30.59 [[-1.98969925e-03 -9.99998021e-01 -3.64723176e-06 2.43873695e+02] [ 9.96433966e-01 -1.98230018e-03 -8.43529559e-02 2.14879791e+02] [ 8.43527817e-02 -1.71471239e-04 9.96435938e-01 3.05902189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39710568099997 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.13, Z:30.61 [[ 6.47352045e-03 -9.99979046e-01 2.00771580e-05 2.43873206e+02] [ 9.96415071e-01 6.44875490e-03 -8.43529503e-02 2.15129083e+02] [ 8.43510533e-02 5.66065732e-04 9.96435938e-01 3.06053632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.457105681 meters Centerline goodness : 0.998301 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.19, Z:30.62 [[ 2.25140795e-02 -9.99746524e-01 -6.71918618e-05 2.43870369e+02] [ 9.96183246e-01 2.24395045e-02 -8.43528811e-02 2.15186576e+02] [ 8.43330074e-02 1.83219206e-03 9.96435942e-01 3.06219136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.517105681 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.24, Z:30.63 [[ 3.57018332e-02 -9.99362486e-01 -4.11365273e-05 2.43873941e+02] [ 9.95800578e-01 3.55780576e-02 -8.43528938e-02 2.15243352e+02] [ 8.43005812e-02 2.97058917e-03 9.96435943e-01 3.06337538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.577105681 meters Centerline goodness : 0.997923 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.30, Z:30.63 [[ 4.41801657e-02 -9.99023579e-01 -3.21727914e-05 2.43882299e+02] [ 9.95462883e-01 4.40254163e-02 -8.43528972e-02 2.15303285e+02] [ 8.42719497e-02 3.69469816e-03 9.96435943e-01 3.06252459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.637105681 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.36, Z:30.64 [[ 4.40540133e-02 -9.99029151e-01 -9.29959471e-06 2.43881736e+02] [ 9.95468519e-01 4.38977860e-02 -8.43528998e-02 2.15359058e+02] [ 8.42714140e-02 3.70682632e-03 9.96435943e-01 3.06399104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.697105681 meters Centerline goodness : 0.998099 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.07, Z:30.60 [[ 5.72711329e-02 -9.98358662e-01 1.69113479e-05 2.43876619e+02] [ 9.94800537e-01 5.70655912e-02 -8.43528945e-02 2.15074151e+02] [ 8.42134778e-02 4.84780925e-03 9.96435943e-01 3.06015885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.757105681 meters Centerline goodness : 0.998074 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.13, Z:30.62 [[ 3.95304678e-02 -9.99218334e-01 -2.51811842e-04 2.43873789e+02] [ 9.95656322e-01 3.94108072e-02 -8.43520954e-02 2.15131574e+02] [ 8.42960843e-02 3.08375974e-03 9.96435979e-01 3.06178472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.817105681 meters Centerline goodness : 0.997649 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.19, Z:30.61 [[ 2.69788696e-02 -9.99635978e-01 -2.29439290e-04 2.43874640e+02] [ 9.96072785e-01 2.69020644e-02 -8.43521563e-02 2.15191403e+02] [ 8.43276226e-02 2.04718759e-03 9.96435979e-01 3.06073984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.877105681 meters Centerline goodness : 0.997913 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.25, Z:30.62 [[ 1.35098087e-02 -9.99908717e-01 -2.07050483e-04 2.43872462e+02] [ 9.96344829e-01 1.34791236e-02 -8.43522112e-02 2.15249532e+02] [ 8.43473022e-02 9.33288561e-04 9.96435980e-01 3.06204820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters Centerline goodness : 0.998169 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.31, Z:30.62 [[ 1.03520160e-02 -9.99946399e-01 -1.86288590e-04 2.43870391e+02] [ 9.96382442e-01 1.03308346e-02 -8.43522571e-02 2.15308040e+02] [ 8.43496603e-02 6.87601235e-04 9.96435980e-01 3.06228301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters Centerline goodness : 0.998246 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:215.36, Z:30.65 [[ 5.21454829e-03 -9.99986391e-01 -1.63302606e-04 2.43864549e+02] [ 9.96422374e-01 5.20973844e-03 -8.43523016e-02 2.15364969e+02] [ 8.43520044e-02 2.77140780e-04 9.96435980e-01 3.06455072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.42, Z:30.65 [[ 9.79733155e-03 -9.99951995e-01 -1.40127856e-04 2.43865542e+02] [ 9.96388050e-01 9.77423341e-03 -8.43523402e-02 2.15422732e+02] [ 8.43496605e-02 6.86806122e-04 9.96435980e-01 3.06456842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters Centerline goodness : 0.997494 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.48, Z:30.64 [[ 2.12277648e-02 -9.99774657e-01 -1.31859790e-04 2.43874731e+02] [ 9.96211222e-01 2.11632291e-02 -8.43523531e-02 2.15481595e+02] [ 8.43361354e-02 1.65925170e-03 9.96435980e-01 3.06403841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.54, Z:30.64 [[ 3.20669345e-02 -9.99485718e-01 -1.09362774e-04 2.43883585e+02] [ 9.95923247e-01 3.19618679e-02 -8.43523823e-02 2.15539607e+02] [ 8.43124968e-02 2.59600539e-03 9.96435981e-01 3.06383937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23710568099995 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.60, Z:30.66 [[ 4.72570499e-02 -9.98882756e-01 -1.01629173e-04 2.43880032e+02] [ 9.95322324e-01 4.70971884e-02 -8.43523916e-02 2.15596220e+02] [ 8.42629359e-02 3.88509139e-03 9.96435981e-01 3.06599200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29710568099995 meters Centerline goodness : 0.997212 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.66, Z:30.66 [[ 7.41790895e-02 -9.97244932e-01 -9.38881022e-05 2.43871305e+02] [ 9.93690153e-01 7.39226124e-02 -8.43524002e-02 2.15655562e+02] [ 8.41269440e-02 6.16388857e-03 9.96435981e-01 3.06552734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35710568099995 meters Centerline goodness : 0.997509 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.71, Z:30.67 [[ 6.29921260e-02 -9.98014021e-01 -7.10711337e-05 2.43871609e+02] [ 9.94456708e-01 6.27736043e-02 -8.43524195e-02 2.15712536e+02] [ 8.41893587e-02 5.24286107e-03 9.96435981e-01 3.06731539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41710568099995 meters Centerline goodness : 0.997868 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.77, Z:30.67 [[ 4.16168975e-02 -9.99133640e-01 -4.83155625e-05 2.43877974e+02] [ 9.95572542e-01 4.14726462e-02 -8.43524325e-02 2.15770015e+02] [ 8.42813567e-02 3.46238489e-03 9.96435981e-01 3.06724971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47710568099995 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.83, Z:30.67 [[ 2.11819072e-02 -9.99775638e-01 -3.69652103e-05 2.43881905e+02] [ 9.96212354e-01 2.11095320e-02 -8.43524375e-02 2.15829344e+02] [ 8.43342923e-02 1.74992031e-03 9.96435981e-01 3.06652961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53710568099996 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.89, Z:30.68 [[-2.25897559e-03 -9.99997448e-01 -1.56365661e-05 2.43866018e+02] [ 9.96433442e-01 -2.24960558e-03 -8.43524415e-02 2.15886838e+02] [ 8.43521911e-02 -2.06130903e-04 9.96435982e-01 3.06794432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59710568099996 meters Centerline goodness : 0.998053 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.68, Z:30.66 [[ 2.19570001e-03 -9.99997589e-01 6.46845714e-06 2.43878172e+02] [ 9.96433581e-01 2.18732887e-03 -8.43524398e-02 2.15680470e+02] [ 8.43522223e-02 1.91658041e-04 9.96435982e-01 3.06559701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65710568099996 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:215.74, Z:30.65 [[-1.41769804e-02 -9.99899480e-01 -2.09853286e-04 2.43856674e+02] [ 9.96336138e-01 -1.41087546e-02 -8.43519036e-02 2.15739627e+02] [ 8.43404637e-02 -1.40493970e-03 9.96436005e-01 3.06480977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71710568099996 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:215.80, Z:30.68 [[ 2.03588603e-02 -9.99792720e-01 -1.86684372e-04 2.43875851e+02] [ 9.96229178e-01 2.03020461e-02 -8.43519549e-02 2.15795574e+02] [ 8.43382604e-02 1.53132925e-03 9.96436005e-01 3.06773648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77710568099997 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:215.85, Z:30.68 [[ 3.93102316e-02 -9.99227041e-01 -1.64075125e-04 2.43864890e+02] [ 9.95665284e-01 3.91839606e-02 -8.43519989e-02 2.15852644e+02] [ 8.42932273e-02 3.15253271e-03 9.96436006e-01 3.06842896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83710568099997 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.91, Z:30.70 [[ 4.64356283e-02 -9.98921273e-01 -1.50737783e-04 2.43873290e+02] [ 9.95360556e-01 4.62828344e-02 -8.43520227e-02 2.15910177e+02] [ 8.42680065e-02 3.76690073e-03 9.96436006e-01 3.06973719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89710568099997 meters Centerline goodness : 0.996143 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:215.97, Z:30.70 [[ 4.60078397e-02 -9.98941071e-01 -1.26830830e-04 2.43868249e+02] [ 9.95380375e-01 4.58545559e-02 -8.43520587e-02 2.15967869e+02] [ 8.42685516e-02 3.75461108e-03 9.96436006e-01 3.07020589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.957105681 meters Centerline goodness : 0.995975 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.02, Z:30.71 [[ 5.62394806e-02 -9.98417303e-01 -9.62202317e-05 2.43875628e+02] [ 9.94858503e-01 5.60471475e-02 -8.43520937e-02 2.16024033e+02] [ 8.42239827e-02 4.64819242e-03 9.96436007e-01 3.07109107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.017105681 meters Centerline goodness : 0.996498 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.08, Z:30.71 [[ 6.94169002e-02 -9.97587735e-01 -6.79536249e-05 2.43883652e+02] [ 9.94031946e-01 6.91752174e-02 -8.43521165e-02 2.16082044e+02] [ 8.41533375e-02 5.78791438e-03 9.96436007e-01 3.07147059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.077105681 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:216.14, Z:30.72 [[ 8.02589234e-02 -9.96774049e-01 -3.63686948e-05 2.43886458e+02] [ 9.93221308e-01 7.99759392e-02 -8.43521301e-02 2.16138198e+02] [ 8.40829229e-02 6.73388899e-03 9.96436007e-01 3.07200289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.137105681 meters Centerline goodness : 0.997094 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.20, Z:30.72 [[ 9.14305898e-02 -9.95811452e-01 -3.51144150e-06 2.43881381e+02] [ 9.92262360e-01 9.11050269e-02 -8.43521315e-02 2.16195738e+02] [ 8.39991385e-02 7.70888087e-03 9.96436008e-01 3.07235130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.197105681 meters Centerline goodness : 0.996840 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:216.22, Z:30.72 [[ 1.03979827e-01 -9.94579406e-01 2.84718676e-05 2.43871755e+02] [ 9.91034984e-01 1.03606856e-01 -8.43521208e-02 2.16215177e+02] [ 8.38919323e-02 8.79913558e-03 9.96436008e-01 3.07212369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.257105681 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:243.87, Y:216.27, Z:30.73 [[ 9.33224343e-02 -9.95635893e-01 -3.03815148e-04 2.43868269e+02] [ 9.92085210e-01 9.30153629e-02 -8.43509286e-02 2.16272986e+02] [ 8.40110716e-02 7.57042348e-03 9.96436063e-01 3.07273392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.317105681 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.33, Z:30.72 [[ 7.78876018e-02 -9.96962109e-01 -2.71915743e-04 2.43883023e+02] [ 9.93407287e-01 7.76328878e-02 -8.43510315e-02 2.16330331e+02] [ 8.41158919e-02 6.29977647e-03 9.96436064e-01 3.07170700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.377105681 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:216.39, Z:30.72 [[ 6.17692432e-02 -9.98090427e-01 -2.46435355e-04 2.43891205e+02] [ 9.94532073e-01 6.15698527e-02 -8.43511060e-02 2.16389054e+02] [ 8.42052043e-02 4.96521612e-03 9.96436064e-01 3.07197755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:216.45, Z:30.73 [[ 5.39381590e-02 -9.98544253e-01 -2.25222791e-04 2.43896659e+02] [ 9.94984531e-01 5.37648998e-02 -8.43511626e-02 2.16446636e+02] [ 8.42404777e-02 4.32565323e-03 9.96436065e-01 3.07295737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:216.50, Z:30.74 [[ 5.42611574e-02 -9.98526755e-01 -2.13495950e-04 2.43895818e+02] [ 9.94967139e-01 5.40857587e-02 -8.43511923e-02 2.16504710e+02] [ 8.42384694e-02 4.36457186e-03 9.96436065e-01 3.07412704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:216.56, Z:30.74 [[ 6.00891467e-02 -9.98192996e-01 -1.91024804e-04 2.43899678e+02] [ 9.94634569e-01 5.98910791e-02 -8.43512432e-02 2.16562988e+02] [ 8.42102609e-02 4.87859435e-03 9.96436065e-01 3.07432540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters Centerline goodness : 0.998429 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:216.62, Z:30.74 [[ 7.20161376e-02 -9.97403450e-01 -1.82805005e-04 2.43900909e+02] [ 9.93847692e-01 7.17748589e-02 -8.43512610e-02 2.16622050e+02] [ 8.41453596e-02 5.89297169e-03 9.96436065e-01 3.07431364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:216.68, Z:30.76 [[ 8.59732928e-02 -9.96297429e-01 -1.59584139e-04 2.43890525e+02] [ 9.92745558e-01 8.56803030e-02 -8.43513050e-02 2.16680150e+02] [ 8.40526615e-02 7.09353299e-03 9.96436065e-01 3.07554753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73710568099995 meters Centerline goodness : 0.998294 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.74, Z:30.77 [[ 8.51236190e-02 -9.96370388e-01 -1.39516211e-04 2.43883851e+02] [ 9.92818407e-01 8.48319713e-02 -8.43513382e-02 2.16737057e+02] [ 8.40570110e-02 7.04177691e-03 9.96436065e-01 3.07696126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79710568099995 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.80, Z:30.77 [[ 8.08656887e-02 -9.96724999e-01 -1.27358633e-04 2.43884252e+02] [ 9.93171884e-01 8.05881977e-02 -8.43513565e-02 2.16795329e+02] [ 8.40853694e-02 6.69464153e-03 9.96436065e-01 3.07734419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85710568099995 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:216.85, Z:30.78 [[ 8.41465204e-02 -9.96453387e-01 -1.03414974e-04 2.43884616e+02] [ 9.92901369e-01 8.38553209e-02 -8.43513859e-02 2.16853166e+02] [ 8.40608961e-02 6.99519475e-03 9.96436066e-01 3.07765405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91710568099995 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:216.91, Z:30.76 [[ 1.08055671e-01 -9.94144840e-01 -9.50597214e-05 2.43890448e+02] [ 9.90600916e-01 1.07678540e-01 -8.43513953e-02 2.16912058e+02] [ 8.38677403e-02 9.02048036e-03 9.96436066e-01 3.07630104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97710568099995 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:216.97, Z:30.77 [[ 1.11187399e-01 -9.93799454e-01 -8.70080412e-05 2.43890574e+02] [ 9.90256810e-01 1.10798429e-01 -8.43514037e-02 2.16969334e+02] [ 8.38380192e-02 9.29265287e-03 9.96436066e-01 3.07699980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03710568099996 meters Centerline goodness : 0.998491 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.03, Z:30.77 [[ 1.15373476e-01 -9.93322182e-01 -6.08189459e-05 2.43892439e+02] [ 9.89781459e-01 1.14967389e-01 -8.43514226e-02 2.17027583e+02] [ 8.37951313e-02 9.67171938e-03 9.96436066e-01 3.07746169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09710568099996 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.09, Z:30.77 [[ 1.20225203e-01 -9.92746643e-01 -5.48514959e-05 2.43895130e+02] [ 9.89208006e-01 1.19801322e-01 -8.43514264e-02 2.17086959e+02] [ 8.37461667e-02 1.00869079e-02 9.96436066e-01 3.07688664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15710568099996 meters Centerline goodness : 0.996974 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.14, Z:30.79 [[ 9.47571109e-02 -9.95500421e-01 -4.82956309e-05 2.43890530e+02] [ 9.91952139e-01 9.44234585e-02 -8.43514302e-02 2.17141507e+02] [ 8.39764445e-02 7.94499087e-03 9.96436066e-01 3.07948882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21710568099996 meters Centerline goodness : 0.998596 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.20, Z:30.78 [[ 8.59391787e-02 -9.96300385e-01 -2.77635887e-05 2.43893793e+02] [ 9.92749436e-01 8.56352305e-02 -8.43514370e-02 2.17200241e+02] [ 8.40417467e-02 7.22153093e-03 9.96436066e-01 3.07839576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27710568099997 meters Centerline goodness : 0.998538 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.23, Z:30.78 [[ 6.22046298e-02 -9.98063417e-01 5.14874732e-06 2.43900251e+02] [ 9.94506413e-01 6.19825032e-02 -8.43514350e-02 2.17231153e+02] [ 8.41877623e-02 5.25217025e-03 9.96436067e-01 3.07820605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33710568099997 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.29, Z:30.80 [[ 5.12578594e-02 -9.98685443e-01 -1.30493316e-04 2.43899442e+02] [ 9.95125657e-01 5.10861740e-02 -8.43512260e-02 2.17288398e+02] [ 8.42470079e-02 4.19380603e-03 9.96436076e-01 3.08006872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39710568099997 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.35, Z:30.81 [[ 5.06940058e-02 -9.98714226e-01 -1.07846759e-04 2.43895520e+02] [ 9.95154436e-01 5.05224221e-02 -8.43512549e-02 2.17346378e+02] [ 8.42482470e-02 4.16877883e-03 9.96436076e-01 3.08087205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.457105681 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.41, Z:30.78 [[ 6.04427245e-02 -9.98171664e-01 -8.43996800e-05 2.43894986e+02] [ 9.94613833e-01 6.02344178e-02 -8.43512784e-02 2.17407381e+02] [ 8.42021397e-02 5.01447599e-03 9.96436077e-01 3.07814803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.517105681 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.47, Z:30.79 [[ 5.01820975e-02 -9.98740082e-01 -7.05922148e-05 2.43893306e+02] [ 9.95180355e-01 5.00091996e-02 -8.43512900e-02 2.17465719e+02] [ 8.42485446e-02 4.16267267e-03 9.96436077e-01 3.07866257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.577105681 meters Centerline goodness : 0.998230 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.52, Z:30.80 [[ 3.23100367e-02 -9.99477893e-01 -4.88905982e-05 2.43889459e+02] [ 9.95915700e-01 3.21990081e-02 -8.43513026e-02 2.17522931e+02] [ 8.43088364e-02 2.67670277e-03 9.96436077e-01 3.07994197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.637105681 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:217.58, Z:30.80 [[ 2.75285014e-02 -9.99621019e-01 -2.34235948e-05 2.43892101e+02] [ 9.96058393e-01 2.74323670e-02 -8.43513097e-02 2.17581447e+02] [ 8.43199847e-02 2.29873388e-03 9.96436077e-01 3.08037391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.697105681 meters Centerline goodness : 0.997694 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.30, Z:30.76 [[ 4.48143379e-02 -9.98995333e-01 1.60827383e-06 2.43899231e+02] [ 9.95434997e-01 4.46544875e-02 -8.43513092e-02 2.17300959e+02] [ 8.42664924e-02 3.78174900e-03 9.96436078e-01 3.07631965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.757105681 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.36, Z:30.77 [[ 5.03375671e-02 -9.98732173e-01 -4.19390753e-04 2.43901942e+02] [ 9.95171252e-01 5.01935117e-02 -8.43492235e-02 2.17359196e+02] [ 8.42633339e-02 3.82856908e-03 9.96436166e-01 3.07693075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.817105681 meters Centerline goodness : 0.997651 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.42, Z:30.77 [[ 5.63043112e-02 -9.98413571e-01 -4.06512826e-04 2.43906758e+02] [ 9.94853625e-01 5.61378960e-02 -8.43492855e-02 2.17417262e+02] [ 8.42382922e-02 4.34480767e-03 9.96436166e-01 3.07723883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.877105681 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.48, Z:30.77 [[ 6.12035372e-02 -9.98125227e-01 -3.97955290e-04 2.43911455e+02] [ 9.94566177e-01 6.10189320e-02 -8.43493259e-02 2.17476991e+02] [ 8.42154729e-02 4.76668424e-03 9.96436166e-01 3.07711562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.54, Z:30.78 [[ 7.49894761e-02 -9.97184254e-01 -3.76916573e-04 2.43905227e+02] [ 9.93628212e-01 7.47539399e-02 -8.43494199e-02 2.17535183e+02] [ 8.41400894e-02 5.95080387e-03 9.96436166e-01 3.07752132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.59, Z:30.80 [[ 7.50970656e-02 -9.97176166e-01 -3.53259523e-04 2.43901347e+02] [ 9.93620282e-01 7.48591547e-02 -8.43495190e-02 2.17591937e+02] [ 8.41377747e-02 5.98339554e-03 9.96436166e-01 3.07963207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.65, Z:30.80 [[ 7.52666028e-02 -9.97163387e-01 -3.42958455e-04 2.43900591e+02] [ 9.93607603e-01 7.50272203e-02 -8.43495609e-02 2.17651111e+02] [ 8.41360251e-02 6.00793877e-03 9.96436167e-01 3.08013500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.71, Z:30.79 [[ 8.21741387e-02 -9.96617935e-01 -3.20549111e-04 2.43913687e+02] [ 9.93064035e-01 8.19082390e-02 -8.43496461e-02 2.17711762e+02] [ 8.40906257e-02 6.61303373e-03 9.96436167e-01 3.07870876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:217.77, Z:30.82 [[ 8.72491404e-02 -9.96186474e-01 -3.09926075e-04 2.43904317e+02] [ 9.92634046e-01 8.69642498e-02 -8.43496851e-02 2.17768626e+02] [ 8.40549679e-02 7.05179435e-03 9.96436167e-01 3.08216006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23710568099995 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.83, Z:30.81 [[ 9.71250966e-02 -9.95272135e-01 -3.04461202e-04 2.43913345e+02] [ 9.91722749e-01 9.68045277e-02 -8.43497049e-02 2.17827207e+02] [ 8.39803841e-02 7.89053213e-03 9.96436167e-01 3.08149303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29710568099995 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:217.89, Z:30.81 [[ 9.34618550e-02 -9.95622817e-01 -2.95644540e-04 2.43913043e+02] [ 9.92072340e-01 9.31536090e-02 -8.43497358e-02 2.17886102e+02] [ 8.40080619e-02 7.59018200e-03 9.96436167e-01 3.08140307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35710568099995 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:217.94, Z:30.82 [[ 9.06580431e-02 -9.95882040e-01 -2.84232557e-04 2.43918207e+02] [ 9.92330790e-01 9.03588365e-02 -8.43497742e-02 2.17944817e+02] [ 8.40281082e-02 7.36493275e-03 9.96436167e-01 3.08178857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41710568099995 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:218.00, Z:30.82 [[ 7.95173429e-02 -9.96833446e-01 -2.70171085e-04 2.43915986e+02] [ 9.93279159e-01 7.92566788e-02 -8.43498193e-02 2.18003897e+02] [ 8.41041339e-02 6.43891819e-03 9.96436167e-01 3.08162499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47710568099995 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:218.06, Z:30.80 [[ 6.95155806e-02 -9.97580836e-01 -2.45277364e-04 2.43919832e+02] [ 9.94024246e-01 6.92884819e-02 -8.43498917e-02 2.18063277e+02] [ 8.41628304e-02 5.61982005e-03 9.96436167e-01 3.07972285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53710568099996 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:218.12, Z:30.82 [[ 4.74183724e-02 -9.98875089e-01 -2.31641274e-04 2.43909861e+02] [ 9.95314393e-01 4.72689008e-02 -8.43499292e-02 2.18119879e+02] [ 8.42659925e-02 3.76918046e-03 9.96436167e-01 3.08191205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59710568099996 meters Centerline goodness : 0.998169 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:218.18, Z:30.83 [[ 4.18118716e-02 -9.99125479e-01 -2.09698937e-04 2.43909389e+02] [ 9.95564068e-01 4.16805356e-02 -8.43499837e-02 2.18176690e+02] [ 8.42849583e-02 3.31806197e-03 9.96436168e-01 3.08302969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65710568099996 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:218.23, Z:30.83 [[ 4.39560654e-02 -9.99033447e-01 -1.89694378e-04 2.43914173e+02] [ 9.95472392e-01 4.38154002e-02 -8.43500287e-02 2.18234030e+02] [ 8.42768115e-02 3.51885987e-03 9.96436168e-01 3.08299490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71710568099996 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:218.29, Z:30.82 [[ 4.35131303e-02 -9.99052840e-01 -1.73556000e-04 2.43920239e+02] [ 9.95491777e-01 4.33726837e-02 -8.43500619e-02 2.18294381e+02] [ 8.42776965e-02 3.49756167e-03 9.96436168e-01 3.08172921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77710568099997 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:218.35, Z:30.83 [[ 3.61224104e-02 -9.99347361e-01 -1.51344744e-04 2.43920553e+02] [ 9.95785417e-01 3.60064347e-02 -8.43501018e-02 2.18352148e+02] [ 8.43005011e-02 2.89622211e-03 9.96436168e-01 3.08335265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83710568099997 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:218.41, Z:30.83 [[ 3.23855844e-02 -9.99475441e-01 -1.27637242e-04 2.43920599e+02] [ 9.95913147e-01 3.22809287e-02 -8.43501377e-02 2.18412000e+02] [ 8.43100114e-02 2.60461290e-03 9.96436169e-01 3.08293075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89710568099997 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:218.47, Z:30.83 [[ 3.60732214e-02 -9.99349144e-01 -1.03379505e-04 2.43926917e+02] [ 9.95787329e-01 3.59533773e-02 -8.43501675e-02 2.18470297e+02] [ 8.42989845e-02 2.93983827e-03 9.96436169e-01 3.08347235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.957105681 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:218.53, Z:30.83 [[ 3.39560419e-02 -9.99423323e-01 -9.35245740e-05 2.43927967e+02] [ 9.95861288e-01 3.38429129e-02 -8.43501784e-02 2.18530096e+02] [ 8.43047007e-02 2.77106069e-03 9.96436169e-01 3.08348528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.017105681 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:218.59, Z:30.84 [[ 3.61760954e-02 -9.99345427e-01 -8.47840078e-05 2.43930321e+02] [ 9.95783677e-01 3.60543171e-02 -8.43501872e-02 2.18589272e+02] [ 8.42980307e-02 2.96703389e-03 9.96436169e-01 3.08375625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.077105681 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.65, Z:30.85 [[ 3.93468702e-02 -9.99225609e-01 -7.86876919e-05 2.43936284e+02] [ 9.95664283e-01 3.92132770e-02 -8.43501929e-02 2.18646290e+02] [ 8.42879584e-02 3.24056957e-03 9.96436169e-01 3.08451181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.137105681 meters Centerline goodness : 0.998399 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.71, Z:30.85 [[ 3.54640822e-02 -9.99370949e-01 -6.94494773e-05 2.43943749e+02] [ 9.95809157e-01 3.53435488e-02 -8.43502005e-02 2.18705306e+02] [ 8.42995945e-02 2.92224402e-03 9.96436169e-01 3.08484534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.197105681 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.77, Z:30.84 [[ 3.74563709e-02 -9.99298262e-01 -5.85306157e-05 2.43938498e+02] [ 9.95736751e-01 3.73278165e-02 -8.43502081e-02 2.18765243e+02] [ 8.42932012e-02 3.10117159e-03 9.96436169e-01 3.08445215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.257105681 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.82, Z:30.85 [[ 4.32101107e-02 -9.99066006e-01 -5.29939831e-05 2.43935207e+02] [ 9.95505313e-01 4.30605832e-02 -8.43502115e-02 2.18822399e+02] [ 8.42737109e-02 3.59202619e-03 9.96436169e-01 3.08504035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.317105681 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.88, Z:30.84 [[ 3.89133496e-02 -9.99242588e-01 -4.35892631e-05 2.43936987e+02] [ 9.95681315e-01 3.87783431e-02 -8.43502164e-02 2.18882326e+02] [ 8.42880189e-02 3.23894845e-03 9.96436169e-01 3.08437383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.377105681 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:218.94, Z:30.85 [[ 2.62824743e-02 -9.99654555e-01 -3.68767983e-05 2.43935868e+02] [ 9.96091875e-01 2.61919176e-02 -8.43502193e-02 2.18941134e+02] [ 8.43220469e-02 2.18019980e-03 9.96436169e-01 3.08463994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters Centerline goodness : 0.998598 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:219.00, Z:30.84 [[ 1.73887624e-02 -9.99848804e-01 -1.05792139e-05 2.43941916e+02] [ 9.96285497e-01 1.73276840e-02 -8.43502227e-02 2.19000145e+02] [ 8.43376526e-02 1.45620606e-03 9.96436169e-01 3.08403018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:219.06, Z:30.86 [[ 5.15016077e-03 -9.99986738e-01 -3.23356756e-06 2.43942140e+02] [ 9.96422953e-01 5.13207922e-03 -8.43502230e-02 2.19057860e+02] [ 8.43491209e-02 4.31195209e-04 9.96436170e-01 3.08568683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:218.98, Z:30.84 [[ 9.04389310e-03 -9.99959103e-01 1.77463865e-05 2.43949047e+02] [ 9.96395432e-01 9.01016535e-03 -8.43502186e-02 2.18984017e+02] [ 8.43466090e-02 7.80536778e-04 9.96436170e-01 3.08436177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.04, Z:30.86 [[ 2.06227367e-03 -9.99997867e-01 -1.09970675e-04 2.43951301e+02] [ 9.96434046e-01 2.06420014e-03 -8.43500527e-02 2.19041163e+02] [ 8.43500999e-02 6.43743687e-05 9.96436178e-01 3.08581689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.10, Z:30.85 [[-1.48039471e-02 -9.99890410e-01 -1.02987616e-04 2.43952456e+02] [ 9.96327118e-01 -1.47425026e-02 -8.43500613e-02 2.19101331e+02] [ 8.43392991e-02 -1.35132320e-03 9.96436178e-01 3.08490216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73710568099995 meters Centerline goodness : 0.998279 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.16, Z:30.84 [[-2.47374510e-02 -9.99693979e-01 -7.73024630e-05 2.43959731e+02] [ 9.96131416e-01 -2.46427728e-02 -8.43500848e-02 2.19160642e+02] [ 8.43223670e-02 -2.16360950e-03 9.96436178e-01 3.08428742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79710568099995 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.22, Z:30.85 [[-3.08387257e-02 -9.99524371e-01 -7.09106097e-05 2.43956562e+02] [ 9.95962434e-01 -3.07228437e-02 -8.43500902e-02 2.19219676e+02] [ 8.43077923e-02 -2.67187360e-03 9.96436178e-01 3.08497439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85710568099995 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.28, Z:30.87 [[-1.96645581e-02 -9.99806633e-01 -4.85319069e-05 2.43952912e+02] [ 9.96243583e-01 -1.95903843e-02 -8.43501031e-02 2.19275884e+02] [ 8.43328418e-02 -1.70705710e-03 9.96436178e-01 3.08673824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91710568099995 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.33, Z:30.87 [[-7.72155527e-03 -9.99970188e-01 -3.94406274e-05 2.43953027e+02] [ 9.96406500e-01 -7.69071032e-03 -8.43501074e-02 2.19333430e+02] [ 8.43472894e-02 -6.90612913e-04 9.96436179e-01 3.08681676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97710568099995 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.39, Z:30.88 [[-5.26253060e-03 -9.99986153e-01 -1.14476119e-05 2.43951390e+02] [ 9.96422386e-01 -5.24281028e-03 -8.43501112e-02 2.19391539e+02] [ 8.43488832e-02 -4.55301698e-04 9.96436179e-01 3.08821342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03710568099996 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.10, Z:30.84 [[ 7.67810798e-03 -9.99970523e-01 1.28084306e-05 2.43956969e+02] [ 9.96406816e-01 7.64966422e-03 -8.43501075e-02 2.19096719e+02] [ 8.43475232e-02 6.60411642e-04 9.96436179e-01 3.08408595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09710568099996 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.16, Z:30.85 [[ 4.01593824e-03 -9.99991912e-01 -2.19866276e-04 2.43954984e+02] [ 9.96428121e-01 4.02017192e-03 -8.43495033e-02 2.19155560e+02] [ 8.43497050e-02 1.19661456e-04 9.96436206e-01 3.08461486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15710568099996 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.21, Z:30.85 [[ 1.07076568e-03 -9.99999408e-01 -1.94693128e-04 2.43957051e+02] [ 9.96435637e-01 1.08337200e-03 -8.43495615e-02 2.19213735e+02] [ 8.43497224e-02 -1.03680555e-04 9.96436206e-01 3.08497679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21710568099996 meters Centerline goodness : 0.998550 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.27, Z:30.85 [[-1.19583402e-02 -9.99928482e-01 -1.68653294e-04 2.43958493e+02] [ 9.96365142e-01 -1.19014987e-02 -8.43496136e-02 2.19272385e+02] [ 8.43415738e-02 -1.17672164e-03 9.96436207e-01 3.08533044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27710568099997 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.33, Z:30.85 [[-3.03924345e-02 -9.99538033e-01 -1.42199071e-04 2.43959791e+02] [ 9.95976271e-01 -3.02721339e-02 -8.43496582e-02 2.19331653e+02] [ 8.43063868e-02 -2.70521836e-03 9.96436207e-01 3.08468438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33710568099997 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:219.39, Z:30.86 [[-4.44275422e-02 -9.99012603e-01 -1.15590978e-04 2.43952700e+02] [ 9.95452775e-01 -4.42594718e-02 -8.43496947e-02 2.19388554e+02] [ 8.42612920e-02 -3.86251498e-03 9.96436208e-01 3.08615401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39710568099997 meters Centerline goodness : 0.997734 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:219.45, Z:30.85 [[-2.15730344e-02 -9.99767271e-01 -8.45036782e-05 2.43975492e+02] [ 9.96204470e-01 -2.14890265e-02 -8.43497259e-02 2.19447448e+02] [ 8.43282794e-02 -1.90386248e-03 9.96436208e-01 3.08455198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.457105681 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:219.51, Z:30.85 [[-2.27806728e-02 -9.99740486e-01 -4.95540995e-05 2.43977240e+02] [ 9.96177717e-01 -2.26953085e-02 -8.43497464e-02 2.19506112e+02] [ 8.43267318e-02 -1.97090866e-03 9.96436209e-01 3.08531225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.517105681 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.56, Z:30.87 [[-3.27768713e-02 -9.99462694e-01 -2.51381981e-05 2.43969032e+02] [ 9.95900888e-01 -3.26579422e-02 -8.43497537e-02 2.19563478e+02] [ 8.43036111e-02 -2.78975618e-03 9.96436209e-01 3.08667263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.577105681 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:219.62, Z:30.86 [[-1.40517372e-02 -9.99901269e-01 -1.67350027e-05 2.43983699e+02] [ 9.96337850e-01 -1.40002483e-02 -8.43497554e-02 2.19623415e+02] [ 8.43411932e-02 -1.20193431e-03 9.96436209e-01 3.08556451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.637105681 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.63, Z:30.86 [[ 6.95641922e-04 -9.99999758e-01 1.46638019e-06 2.43972905e+02] [ 9.96435968e-01 6.93039114e-04 -8.43497551e-02 2.19628458e+02] [ 8.43497337e-02 6.01383800e-05 9.96436209e-01 3.08604257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.697105681 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.69, Z:30.87 [[ 6.49637113e-03 -9.99978893e-01 -1.04114735e-04 2.43965692e+02] [ 9.96415137e-01 6.48200139e-03 -8.43496253e-02 2.19686951e+02] [ 8.43485198e-02 4.44224973e-04 9.96436215e-01 3.08682587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.757105681 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.74, Z:30.88 [[ 1.02960687e-02 -9.99946991e-01 -8.02145707e-05 2.43971688e+02] [ 9.96383331e-01 1.02661415e-02 -8.43496480e-02 2.19744960e+02] [ 8.43460002e-02 7.88545312e-04 9.96436215e-01 3.08791056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.817105681 meters Centerline goodness : 0.998570 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.80, Z:30.88 [[ 1.62676786e-02 -9.99867671e-01 -5.58897307e-05 2.43974456e+02] [ 9.96304284e-01 1.62144178e-02 -8.43496642e-02 2.19802902e+02] [ 8.43394085e-02 1.31649005e-03 9.96436215e-01 3.08802820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.877105681 meters Centerline goodness : 0.998648 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:219.86, Z:30.89 [[ 1.95584871e-02 -9.99808714e-01 -2.82028844e-05 2.43969843e+02] [ 9.96245566e-01 1.94911633e-02 -8.43496734e-02 2.19860126e+02] [ 8.43340882e-02 1.62165500e-03 9.96436216e-01 3.08866716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.92, Z:30.89 [[ 2.16694110e-02 -9.99765191e-01 -1.97577032e-05 2.43962706e+02] [ 9.96202207e-01 2.15938520e-02 -8.43496754e-02 2.19917024e+02] [ 8.43302960e-02 1.80812511e-03 9.96436216e-01 3.08942441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:219.98, Z:30.88 [[ 1.96060516e-02 -9.99807783e-01 -9.89102015e-06 2.43962818e+02] [ 9.96244667e-01 1.95370140e-02 -8.43496766e-02 2.19976764e+02] [ 8.43336564e-02 1.64391024e-03 9.96436216e-01 3.08820093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.06, Z:30.89 [[ 2.70261161e-02 -9.99634728e-01 1.34165063e-05 2.43958895e+02] [ 9.96072276e-01 2.69286696e-02 -8.43496729e-02 2.20060962e+02] [ 8.43185010e-02 2.29300786e-03 9.96436216e-01 3.08934232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.12, Z:30.90 [[ 1.22459342e-02 -9.99923732e-01 -1.60226437e-03 2.43958246e+02] [ 9.96362424e-01 1.23374311e-02 -8.43190812e-02 2.20117531e+02] [ 8.43324182e-02 -5.63870089e-04 9.96437517e-01 3.08990799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.18, Z:30.91 [[ 2.70580833e-03 -9.99995085e-01 -1.58362869e-03 2.43951093e+02] [ 9.96434758e-01 2.82970605e-03 -8.43194312e-02 2.20175378e+02] [ 8.43234981e-02 -1.34983045e-03 9.96437517e-01 3.09097100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23710568099995 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.23, Z:30.92 [[-9.50942369e-03 -9.99953568e-01 -1.55945781e-03 2.43950818e+02] [ 9.96394925e-01 -9.34408207e-03 -8.43198783e-02 2.20232404e+02] [ 8.43013915e-02 -2.35566930e-03 9.96437517e-01 3.09172963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29710568099995 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.29, Z:30.92 [[-6.12711925e-03 -9.99980055e-01 -1.53220622e-03 2.43952073e+02] [ 9.96420775e-01 -5.97611190e-03 -8.43203735e-02 2.20290558e+02] [ 8.43095351e-02 -2.04336309e-03 9.96437518e-01 3.09219596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35710568099995 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.35, Z:30.92 [[ 8.20059538e-04 -9.99998528e-01 -1.50710394e-03 2.43952249e+02] [ 9.96438211e-01 9.44220295e-04 -8.43208222e-02 2.20346893e+02] [ 8.43221211e-02 -1.43258786e-03 9.96437518e-01 3.09248937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41710568099995 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.41, Z:30.92 [[ 1.55345621e-02 -9.99878231e-01 -1.48309932e-03 2.43959239e+02] [ 9.96316433e-01 1.56042964e-02 -8.43212445e-02 2.20406240e+02] [ 8.43341195e-02 -1.67742618e-04 9.96437518e-01 3.09195385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47710568099995 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.46, Z:30.92 [[ 2.22632577e-02 -9.99751078e-01 -1.45929286e-03 2.43964807e+02] [ 9.96188865e-01 2.23070122e-02 -8.43216565e-02 2.20463973e+02] [ 8.43332194e-02 4.23543471e-04 9.96437519e-01 3.09205296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53710568099996 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.52, Z:30.94 [[ 5.40032819e-02 -9.98539712e-01 -1.44542728e-03 2.43963139e+02] [ 9.94977930e-01 5.39327121e-02 -8.43218942e-02 2.20521281e+02] [ 8.42767157e-02 3.11549078e-03 9.96437519e-01 3.09372917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59710568099996 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.58, Z:30.95 [[ 7.03896330e-02 -9.97518559e-01 -1.42255121e-03 2.43963042e+02] [ 9.93958486e-01 7.02586686e-02 -8.43222801e-02 2.20578425e+02] [ 8.42129859e-02 4.52145751e-03 9.96437519e-01 3.09481661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65710568099996 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:220.64, Z:30.95 [[ 9.67657043e-02 -9.95306192e-01 -1.40791545e-03 2.43966163e+02] [ 9.91750911e-01 9.65393314e-02 -8.43225245e-02 2.20636926e+02] [ 8.40626500e-02 6.76322704e-03 9.96437519e-01 3.09531794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71710568099996 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.69, Z:30.96 [[ 8.32973464e-02 -9.96523777e-01 -1.38378132e-03 2.43956724e+02] [ 9.92965862e-01 8.31170392e-02 -8.43229206e-02 2.20694353e+02] [ 8.41448111e-02 5.64982791e-03 9.96437519e-01 3.09598912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77710568099997 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:220.75, Z:30.96 [[ 6.99467469e-02 -9.97549779e-01 -1.37542016e-03 2.43960020e+02] [ 9.93989795e-01 6.98133905e-02 -8.43230570e-02 2.20753674e+02] [ 8.42124695e-02 4.53096991e-03 9.96437520e-01 3.09565215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83710568099997 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.81, Z:30.96 [[ 5.03522433e-02 -9.98730606e-01 -1.35233949e-03 2.43951951e+02] [ 9.95168726e-01 5.02868456e-02 -8.43234271e-02 2.20811802e+02] [ 8.42843924e-02 2.90006776e-03 9.96437520e-01 3.09608143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89710568099997 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:220.87, Z:30.97 [[ 2.68880275e-02 -9.99637553e-01 -1.34038749e-03 2.43945986e+02] [ 9.96075115e-01 2.69052732e-02 -8.43236171e-02 2.20868880e+02] [ 8.43291178e-02 9.32169116e-04 9.96437520e-01 3.09693149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.957105681 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:220.93, Z:30.97 [[ 5.43854197e-03 -9.99984346e-01 -1.31506060e-03 2.43941274e+02] [ 9.96423042e-01 5.53006630e-03 -8.43240121e-02 2.20926276e+02] [ 8.43299645e-02 -8.51757006e-04 9.96437520e-01 3.09748418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.017105681 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:220.98, Z:30.99 [[ 1.41086665e-02 -9.99899635e-01 -1.29019673e-03 2.43942030e+02] [ 9.96337637e-01 1.41672124e-02 -8.43243926e-02 2.20982905e+02] [ 8.43342079e-02 -9.57668252e-05 9.96437520e-01 3.09859445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.077105681 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:221.04, Z:31.00 [[ 1.84049792e-02 -9.99829802e-01 -1.27445997e-03 2.43942363e+02] [ 9.96267569e-01 1.84468919e-02 -8.43246304e-02 2.21039456e+02] [ 8.43337884e-02 2.82289933e-04 9.96437521e-01 3.09969222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.137105681 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:221.10, Z:30.99 [[ 2.14560551e-02 -9.99768999e-01 -1.25916128e-03 2.43946674e+02] [ 9.96206644e-01 2.14858065e-02 -8.43248589e-02 2.21098888e+02] [ 8.43324339e-02 5.54893989e-04 9.96437521e-01 3.09931965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.197105681 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:221.16, Z:31.00 [[ 2.42708863e-02 -9.99704657e-01 -1.23368497e-03 2.43946840e+02] [ 9.96142222e-01 2.42884588e-02 -8.43252316e-02 2.21157060e+02] [ 8.43302911e-02 8.17722425e-04 9.96437521e-01 3.09974881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.257105681 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:221.21, Z:31.00 [[ 3.00882092e-02 -9.99546518e-01 -1.20729822e-03 2.43951452e+02] [ 9.95984044e-01 3.00828245e-02 -8.43256095e-02 2.21214546e+02] [ 8.43236883e-02 1.33475681e-03 9.96437521e-01 3.10035893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.317105681 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:221.27, Z:31.00 [[ 4.22843513e-02 -9.99104899e-01 -1.19806859e-03 2.43956919e+02] [ 9.95542766e-01 4.22347124e-02 -8.43257406e-02 2.21272537e+02] [ 8.43008606e-02 2.37293072e-03 9.96437521e-01 3.10041445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.377105681 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:221.33, Z:31.01 [[ 3.80202865e-02 -9.99276258e-01 -1.19086489e-03 2.43960456e+02] [ 9.95713952e-01 3.79852420e-02 -8.43258423e-02 2.21330067e+02] [ 8.43100475e-02 2.02033190e-03 9.96437521e-01 3.10092107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:221.39, Z:31.02 [[ 4.06063022e-02 -9.99174549e-01 -1.16133245e-03 2.43962646e+02] [ 9.95612378e-01 4.05595478e-02 -8.43262491e-02 2.21388429e+02] [ 8.43037450e-02 2.26794019e-03 9.96437522e-01 3.10173584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:221.45, Z:31.02 [[ 3.82684301e-02 -9.99266852e-01 -1.13434851e-03 2.43967033e+02] [ 9.95704606e-01 3.82277345e-02 -8.43266121e-02 2.21446175e+02] [ 8.43081517e-02 2.09757103e-03 9.96437522e-01 3.10214605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:221.50, Z:31.03 [[ 3.36360051e-02 -9.99433516e-01 -1.12484846e-03 2.43970675e+02] [ 9.95871126e-01 3.36110212e-02 -8.43267388e-02 2.21504605e+02] [ 8.43167764e-02 1.71621051e-03 9.96437522e-01 3.10270382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:221.56, Z:31.02 [[ 3.26440410e-02 -9.99466437e-01 -1.09928761e-03 2.43976519e+02] [ 9.95904038e-01 3.26204370e-02 -8.43270721e-02 2.21562871e+02] [ 8.43179375e-02 1.65799142e-03 9.96437523e-01 3.10232044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:221.62, Z:31.04 [[ 3.28584505e-02 -9.99459421e-01 -1.09018387e-03 2.43977934e+02] [ 9.95897032e-01 3.28333145e-02 -8.43271898e-02 2.21620840e+02] [ 8.43173986e-02 1.68514991e-03 9.96437523e-01 3.10351121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73710568099995 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:221.68, Z:31.03 [[ 3.55774821e-02 -9.99366354e-01 -1.06446738e-03 2.43984338e+02] [ 9.95804069e-01 3.55404854e-02 -8.43275144e-02 2.21679645e+02] [ 8.43119123e-02 1.94015968e-03 9.96437523e-01 3.10332747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79710568099995 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:221.74, Z:31.03 [[ 4.14839363e-02 -9.99138631e-01 -1.03839779e-03 2.43985266e+02] [ 9.95576664e-01 4.14236858e-02 -8.43278355e-02 2.21738496e+02] [ 8.42982124e-02 2.46444595e-03 9.96437523e-01 3.10335324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85710568099995 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:221.80, Z:31.04 [[ 4.65870883e-02 -9.98913719e-01 -1.01287868e-03 2.43986731e+02] [ 9.95352154e-01 4.65064920e-02 -8.43281420e-02 2.21796113e+02] [ 8.42836433e-02 2.92043163e-03 9.96437524e-01 3.10418968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91710568099995 meters Centerline goodness : 0.998099 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:221.85, Z:31.05 [[ 4.10010244e-02 -9.99158621e-01 -9.83376604e-04 2.43990005e+02] [ 9.95596705e-01 4.09378557e-02 -8.43284861e-02 2.21853096e+02] [ 8.42977911e-02 2.47850781e-03 9.96437524e-01 3.10519338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97710568099995 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:221.91, Z:31.06 [[ 3.51122337e-02 -9.99382900e-01 -9.74399863e-04 2.43989923e+02] [ 9.95820683e-01 3.50692996e-02 -8.43285898e-02 2.21911634e+02] [ 8.43107222e-02 1.99063761e-03 9.96437524e-01 3.10563620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03710568099996 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:221.97, Z:31.06 [[ 3.12804606e-02 -9.99510195e-01 -9.49785043e-04 2.43992489e+02] [ 9.95947858e-01 3.12491080e-02 -8.43288670e-02 2.21970282e+02] [ 8.43172423e-02 1.69190943e-03 9.96437524e-01 3.10618735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09710568099996 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:222.03, Z:31.06 [[ 2.77108883e-02 -9.99615551e-01 -9.25466155e-04 2.43995579e+02] [ 9.96053136e-01 2.76902064e-02 -8.43291340e-02 2.22029399e+02] [ 8.43223401e-02 1.41502174e-03 9.96437525e-01 3.10633989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15710568099996 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:222.09, Z:31.06 [[ 3.07365842e-02 -9.99527113e-01 -9.01361468e-04 2.43998804e+02] [ 9.95964796e-01 3.07030862e-02 -8.43293916e-02 2.22088173e+02] [ 8.43171879e-02 1.69427316e-03 9.96437525e-01 3.10643010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21710568099996 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:222.15, Z:31.07 [[ 4.08368663e-02 -9.99165442e-01 -8.77200258e-04 2.44004074e+02] [ 9.95603686e-01 4.07653296e-02 -8.43296430e-02 2.22146845e+02] [ 8.42950244e-02 2.57041455e-03 9.96437525e-01 3.10713302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27710568099997 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:222.20, Z:31.07 [[ 4.45464311e-02 -9.99006951e-01 -8.52467373e-04 2.44003525e+02] [ 9.95445536e-01 4.44595850e-02 -8.43298930e-02 2.22203574e+02] [ 8.42840497e-02 2.90801093e-03 9.96437526e-01 3.10742800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33710568099997 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:222.26, Z:31.09 [[ 2.80642257e-02 -9.99605768e-01 -8.40913716e-04 2.43992463e+02] [ 9.96043413e-01 2.80351538e-02 -8.43300082e-02 2.22261257e+02] [ 8.43203378e-02 1.52906982e-03 9.96437526e-01 3.10865130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39710568099997 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:222.32, Z:31.09 [[ 1.49562272e-02 -9.99887815e-01 -8.17962161e-04 2.43996574e+02] [ 9.96325375e-01 1.49719272e-02 -8.43302309e-02 2.22318198e+02] [ 8.43330167e-02 4.46305636e-04 9.96437526e-01 3.10850297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.457105681 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:222.38, Z:31.09 [[ 7.71179404e-03 -9.99969948e-01 -7.94282222e-04 2.43986278e+02] [ 9.96407694e-01 7.75130603e-03 -8.43304539e-02 2.22376545e+02] [ 8.43340764e-02 -1.41089825e-04 9.96437526e-01 3.10941807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.517105681 meters Centerline goodness : 0.996229 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:222.43, Z:31.09 [[-1.51154191e-02 -9.99885458e-01 -7.71014940e-04 2.43960608e+02] [ 9.96324968e-01 -1.49965669e-02 -8.43306667e-02 2.22433916e+02] [ 8.43094447e-02 -2.04287480e-03 9.96437527e-01 3.10943291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.577105681 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:222.49, Z:31.09 [[-1.58274481e-03 -9.99998477e-01 -7.36080982e-04 2.43990844e+02] [ 9.96436647e-01 -1.51503281e-03 -8.43309717e-02 2.22490305e+02] [ 8.43297280e-02 -8.66932473e-04 9.96437527e-01 3.10911443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.637105681 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:222.55, Z:31.10 [[-9.60448463e-03 -9.99953628e-01 -7.04643420e-04 2.43988116e+02] [ 9.96392386e-01 -9.51085294e-03 -8.43312344e-02 2.22547908e+02] [ 8.43206220e-02 -1.51205938e-03 9.96437528e-01 3.10963596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.697105681 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.61, Z:31.11 [[-2.02917159e-02 -9.99793870e-01 -6.80489867e-04 2.43979795e+02] [ 9.96233758e-01 -2.01620617e-02 -8.43314293e-02 2.22606029e+02] [ 8.43003260e-02 -2.38915638e-03 9.96437528e-01 3.11109070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.757105681 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.66, Z:31.12 [[-1.60398793e-02 -9.99871130e-01 -6.68092990e-04 2.43979861e+02] [ 9.96310465e-01 -1.59264108e-02 -8.43315275e-02 2.22663998e+02] [ 8.43100194e-02 -2.01829556e-03 9.96437528e-01 3.11221911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.817105681 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.72, Z:31.12 [[-1.67647671e-02 -9.99859254e-01 -6.44136584e-04 2.43982148e+02] [ 9.96298608e-01 -1.66507365e-02 -8.43317105e-02 2.22722252e+02] [ 8.43091158e-02 -2.05555386e-03 9.96437528e-01 3.11227206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.877105681 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.78, Z:31.13 [[-1.37723936e-02 -9.99904964e-01 -6.20375798e-04 2.43976670e+02] [ 9.96343935e-01 -1.36710226e-02 -8.43318853e-02 2.22779364e+02] [ 8.43153896e-02 -1.77955958e-03 9.96437529e-01 3.11293924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.84, Z:31.13 [[-8.98924380e-03 -9.99959420e-01 -5.93540634e-04 2.43978379e+02] [ 9.96397894e-01 -8.90717053e-03 -8.43320742e-02 2.22838225e+02] [ 8.43233653e-02 -1.34948421e-03 9.96437529e-01 3.11327271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.90, Z:31.14 [[-8.16094292e-03 -9.99966537e-01 -5.69864312e-04 2.43978825e+02] [ 9.96404901e-01 -8.08381610e-03 -8.43322343e-02 2.22895118e+02] [ 8.43248055e-02 -1.25604614e-03 9.96437529e-01 3.11407689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:222.95, Z:31.15 [[-5.26459101e-03 -9.99985994e-01 -5.43175864e-04 2.43978982e+02] [ 9.96424109e-01 -5.20003091e-03 -8.43324062e-02 2.22952431e+02] [ 8.43284005e-02 -9.85209153e-04 9.96437530e-01 3.11472955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:223.01, Z:31.15 [[ 1.37555937e-03 -9.99998921e-01 -5.15407938e-04 2.43976390e+02] [ 9.96436660e-01 1.41412499e-03 -8.43325759e-02 2.23010631e+02] [ 8.43332138e-02 -3.97566898e-04 9.96437530e-01 3.11478604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:223.07, Z:31.15 [[ 1.23243584e-04 -9.99999864e-01 -5.06882483e-04 2.43980678e+02] [ 9.96437645e-01 1.65551304e-04 -8.43326272e-02 2.23068434e+02] [ 8.43326996e-02 -4.94683332e-04 9.96437530e-01 3.11518066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23710568099995 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.13, Z:31.16 [[ 3.46768045e-03 -9.99993866e-01 -4.93520570e-04 2.43968971e+02] [ 9.96431516e-01 3.49694747e-03 -8.43327054e-02 2.23126769e+02] [ 8.43339139e-02 -1.99320576e-04 9.96437530e-01 3.11581052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29710568099995 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.18, Z:31.17 [[-8.32748607e-03 -9.99965216e-01 -4.69282921e-04 2.43972355e+02] [ 9.96403419e-01 -8.25824688e-03 -8.43328403e-02 2.23184524e+02] [ 8.43260314e-02 -1.16987566e-03 9.96437530e-01 3.11698290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35710568099995 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.24, Z:31.18 [[-3.33221632e-03 -9.99994349e-01 -4.45195811e-04 2.43966339e+02] [ 9.96432222e-01 -3.28280157e-03 -8.43329675e-02 2.23242330e+02] [ 8.43310294e-02 -7.24623141e-04 9.96437531e-01 3.11760206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41710568099995 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.30, Z:31.18 [[-2.16428231e-03 -9.99997566e-01 -4.28390953e-04 2.43968076e+02] [ 9.96435367e-01 -2.12044508e-03 -8.43330528e-02 2.23299785e+02] [ 8.43319392e-02 -6.09384431e-04 9.96437531e-01 3.11804924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47710568099995 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.36, Z:31.19 [[ 3.70935938e-03 -9.99993039e-01 -4.02151348e-04 2.43969794e+02] [ 9.96430631e-01 3.73005997e-03 -8.43331780e-02 2.23357261e+02] [ 8.43340910e-02 -8.78938564e-05 9.96437531e-01 3.11865683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53710568099996 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.41, Z:31.19 [[ 1.59181968e-02 -9.99873227e-01 -3.75047022e-04 2.43972866e+02] [ 9.96310847e-01 1.58931159e-02 -8.43332986e-02 2.23414682e+02] [ 8.43285680e-02 9.68770625e-04 9.96437531e-01 3.11908908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59710568099996 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:223.47, Z:31.20 [[ 1.98734694e-02 -9.99802442e-01 -3.48244578e-04 2.43974114e+02] [ 9.96240215e-01 1.98320361e-02 -8.43334093e-02 2.23471556e+02] [ 8.43236550e-02 1.32906218e-03 9.96437532e-01 3.11960543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65710568099996 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:223.53, Z:31.20 [[ 2.98596533e-02 -9.99554048e-01 -3.24481021e-04 2.43978147e+02] [ 9.95992457e-01 2.97806348e-02 -8.43335007e-02 2.23529007e+02] [ 8.43055553e-02 2.19498844e-03 9.96437532e-01 3.12019366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71710568099996 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:223.59, Z:31.20 [[ 4.20787374e-02 -9.99114253e-01 -2.97977113e-04 2.43990142e+02] [ 9.95553972e-01 4.19539442e-02 -8.43335944e-02 2.23587944e+02] [ 8.42713975e-02 3.25199887e-03 9.96437532e-01 3.12047754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77710568099997 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:223.65, Z:31.20 [[ 3.49367711e-02 -9.99389487e-01 -2.75355979e-04 2.43989033e+02] [ 9.95828459e-01 3.48355202e-02 -8.43336683e-02 2.23646556e+02] [ 8.42917736e-02 2.67213874e-03 9.96437533e-01 3.12028106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83710568099997 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:223.70, Z:31.21 [[ 1.83087617e-02 -9.99832347e-01 -2.60339098e-04 2.43989626e+02] [ 9.96270142e-01 1.82654903e-02 -8.43337146e-02 2.23703951e+02] [ 8.43243310e-02 1.28467782e-03 9.96437533e-01 3.12067034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89710568099997 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:223.76, Z:31.21 [[ 6.23068666e-03 -9.99980562e-01 -2.33324804e-04 2.43978907e+02] [ 9.96418096e-01 6.22816717e-03 -8.43337894e-02 2.23762249e+02] [ 8.43336033e-02 2.92968360e-04 9.96437533e-01 3.12124241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.957105681 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:223.82, Z:31.21 [[ 1.33146902e-02 -9.99911334e-01 -2.08765877e-04 2.43991162e+02] [ 9.96348992e-01 1.32848622e-02 -8.43338502e-02 2.23821630e+02] [ 8.43291461e-02 9.14875422e-04 9.96437533e-01 3.12108594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.017105681 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:223.88, Z:31.21 [[ 2.32985660e-02 -9.99728535e-01 -1.83384153e-04 2.43995172e+02] [ 9.96166709e-01 2.32310278e-02 -8.43339055e-02 2.23879631e+02] [ 8.43152719e-02 1.78217788e-03 9.96437534e-01 3.12097417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.077105681 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:223.94, Z:31.21 [[ 3.85181052e-02 -9.99257887e-01 -1.74670808e-04 2.43999108e+02] [ 9.95697528e-01 3.83956066e-02 -8.43339235e-02 2.23938744e+02] [ 8.42780448e-02 3.07446364e-03 9.96437534e-01 3.12134562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.137105681 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:224.00, Z:31.22 [[ 5.73536476e-02 -9.98353913e-01 -1.53105284e-04 2.44002256e+02] [ 9.94796594e-01 5.71622192e-02 -8.43339627e-02 2.23996524e+02] [ 8.42038935e-02 4.68455176e-03 9.96437534e-01 3.12220793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.197105681 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:224.05, Z:31.24 [[ 6.42988807e-02 -9.97930677e-01 -1.29981594e-04 2.43990055e+02] [ 9.94374896e-01 6.40807584e-02 -8.43339983e-02 2.24053750e+02] [ 8.41678134e-02 5.29333126e-03 9.96437534e-01 3.12372049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.257105681 meters Centerline goodness : 0.998491 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:224.11, Z:31.24 [[ 8.64409425e-02 -9.96256971e-01 -1.06966526e-04 2.44006254e+02] [ 9.92707071e-01 8.61419878e-02 -8.43340276e-02 2.24112294e+02] [ 8.40275771e-02 7.18372640e-03 9.96437535e-01 3.12425030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.317105681 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:224.17, Z:31.25 [[ 9.00826496e-02 -9.95934290e-01 -8.02897612e-05 2.44008324e+02] [ 9.92385705e-01 8.97684775e-02 -8.43340530e-02 2.24169368e+02] [ 8.39983827e-02 7.51735653e-03 9.96437535e-01 3.12474102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.377105681 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:224.23, Z:31.25 [[ 8.89511036e-02 -9.96035992e-01 -6.74650713e-05 2.44005361e+02] [ 9.92487147e-01 8.86398858e-02 -8.43340632e-02 2.24227588e+02] [ 8.40057424e-02 7.43464978e-03 9.96437535e-01 3.12483580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:224.29, Z:31.26 [[ 9.06243937e-02 -9.95885142e-01 -5.86080809e-05 2.44006921e+02] [ 9.92336892e-01 9.03064701e-02 -8.43340694e-02 2.24285420e+02] [ 8.39923394e-02 7.58456494e-03 9.96437535e-01 3.12566174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:224.34, Z:31.26 [[ 9.34392180e-02 -9.95624985e-01 -3.21662444e-05 2.44002016e+02] [ 9.92077854e-01 9.31090451e-02 -8.43340795e-02 2.24342428e+02] [ 8.39681117e-02 7.84819902e-03 9.96437535e-01 3.12614347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:224.40, Z:31.28 [[ 9.42260823e-02 -9.95550825e-01 -1.92130157e-05 2.43991024e+02] [ 9.92004058e-01 9.38920184e-02 -8.43340825e-02 2.24400561e+02] [ 8.39606693e-02 7.92741081e-03 9.96437536e-01 3.12750601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:224.40, Z:31.28 [[ 7.55598961e-02 -9.97141265e-01 5.35117208e-06 2.43985150e+02] [ 9.93589019e-01 7.52902667e-02 -8.43340809e-02 2.24402670e+02] [ 8.40925893e-02 6.37759126e-03 9.96437536e-01 3.12839844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.46, Z:31.29 [[ 5.61747759e-02 -9.98420946e-01 -9.61658769e-05 2.43981670e+02] [ 9.94863666e-01 5.59827533e-02 -8.43339656e-02 2.24460860e+02] [ 8.42061814e-02 4.64176968e-03 9.96437541e-01 3.12855503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73710568099995 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.52, Z:31.29 [[ 4.64843597e-02 -9.98919016e-01 -6.80532109e-05 2.43977600e+02] [ 9.95360146e-01 4.63244943e-02 -8.43339883e-02 2.24518209e+02] [ 8.42459771e-02 3.85247399e-03 9.96437541e-01 3.12866311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79710568099995 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:224.58, Z:31.29 [[ 3.99501807e-02 -9.99201671e-01 -5.58804505e-05 2.43974873e+02] [ 9.95641872e-01 3.98125688e-02 -8.43339964e-02 2.24575989e+02] [ 8.42688949e-02 3.31352148e-03 9.96437541e-01 3.12932162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85710568099995 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.63, Z:31.30 [[ 4.42287275e-02 -9.99021431e-01 -2.96722746e-05 2.43975617e+02] [ 9.95462349e-01 4.40736645e-02 -8.43340057e-02 2.24634118e+02] [ 8.42527867e-02 3.70044812e-03 9.96437542e-01 3.12963573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91710568099995 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.69, Z:31.30 [[ 5.47105720e-02 -9.98502255e-01 -3.48154164e-06 2.43975598e+02] [ 9.94945117e-01 5.45159611e-02 -8.43340068e-02 2.24692688e+02] [ 8.42078857e-02 4.61049781e-03 9.96437542e-01 3.12991020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97710568099995 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.69, Z:31.30 [[ 7.74081747e-02 -9.96999486e-01 1.99329938e-05 2.43975951e+02] [ 9.93447848e-01 7.71307354e-02 -8.43340013e-02 2.24693572e+02] [ 8.40794184e-02 6.54794349e-03 9.96437542e-01 3.12988110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03710568099996 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.75, Z:31.31 [[ 9.17611104e-02 -9.95781043e-01 -1.15707609e-04 2.43975603e+02] [ 9.92232742e-01 9.14439343e-02 -8.43338159e-02 2.24751565e+02] [ 8.39885959e-02 7.62375571e-03 9.96437552e-01 3.13111361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09710568099996 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.81, Z:31.32 [[ 9.90372949e-02 -9.95083718e-01 -9.25437072e-05 2.43976800e+02] [ 9.91538019e-01 9.86922467e-02 -8.43338414e-02 2.24808453e+02] [ 8.39283658e-02 8.26043491e-03 9.96437552e-01 3.13186312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15710568099996 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.87, Z:31.32 [[ 1.07737913e-01 -9.94179329e-01 -6.51959452e-05 2.43978323e+02] [ 9.90637029e-01 1.07359569e-01 -8.43338625e-02 2.24866800e+02] [ 8.38499823e-02 9.02136886e-03 9.96437552e-01 3.13158343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21710568099996 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.93, Z:31.33 [[ 1.06171784e-01 -9.94347801e-01 -5.68463252e-05 2.43978623e+02] [ 9.90804983e-01 1.05798320e-01 -8.43338682e-02 2.24925129e+02] [ 8.38632106e-02 8.89755363e-03 9.96437552e-01 3.13252185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27710568099997 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:224.98, Z:31.32 [[ 9.20134870e-02 -9.95757760e-01 -3.26274238e-05 2.43978707e+02] [ 9.92210173e-01 9.16884338e-02 -8.43338776e-02 2.24983568e+02] [ 8.39791046e-02 7.72748089e-03 9.96437553e-01 3.13239053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33710568099997 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.04, Z:31.33 [[ 7.37700255e-02 -9.97275280e-01 -8.82356812e-06 2.43982435e+02] [ 9.93722484e-01 7.35079657e-02 -8.43338801e-02 2.25042554e+02] [ 8.41047424e-02 6.21254430e-03 9.96437553e-01 3.13276987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39710568099997 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.06, Z:31.33 [[ 5.59602317e-02 -9.98432998e-01 1.51212039e-05 2.43977459e+02] [ 9.94876205e-01 5.57596031e-02 -8.43338758e-02 2.25064667e+02] [ 8.42008813e-02 4.73438695e-03 9.96437553e-01 3.13348864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.457105681 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.12, Z:31.34 [[ 4.84179165e-02 -9.98827160e-01 -9.45379092e-05 2.43974566e+02] [ 9.95268521e-01 4.82533943e-02 -8.43337534e-02 2.25123175e+02] [ 8.42394052e-02 3.98917402e-03 9.96437559e-01 3.13411966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.517105681 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.18, Z:31.34 [[ 2.95478080e-02 -9.99563366e-01 -7.16924171e-05 2.43969597e+02] [ 9.96002307e-01 2.94485893e-02 -8.43337728e-02 2.25182359e+02] [ 8.42990611e-02 2.42047231e-03 9.96437559e-01 3.13359944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.577105681 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.24, Z:31.35 [[ 2.85882970e-02 -9.99591270e-01 -4.83307365e-05 2.43974304e+02] [ 9.96030171e-01 2.84905272e-02 -8.43337863e-02 2.25238582e+02] [ 8.43006935e-02 2.36282046e-03 9.96437560e-01 3.13545381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.637105681 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.30, Z:31.36 [[ 3.27234282e-02 -9.99464445e-01 -3.64885998e-05 2.43972797e+02] [ 9.95903813e-01 3.26099286e-02 -8.43337914e-02 2.25295949e+02] [ 8.42898159e-02 2.72335164e-03 9.96437560e-01 3.13605883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.697105681 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.35, Z:31.37 [[ 5.05046688e-02 -9.98723825e-01 -9.92303652e-06 2.43974590e+02] [ 9.95165889e-01 5.03255847e-02 -8.43337945e-02 2.25352241e+02] [ 8.42266692e-02 4.24937529e-03 9.96437560e-01 3.13695988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.757105681 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.34, Z:31.37 [[ 7.71018871e-02 -9.97023219e-01 1.35985753e-05 2.43977024e+02] [ 9.93471472e-01 7.68260729e-02 -8.43337908e-02 2.25338442e+02] [ 8.40817028e-02 6.51580421e-03 9.96437560e-01 3.13685079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.817105681 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.40, Z:31.37 [[ 9.13097504e-02 -9.95822531e-01 -1.25793813e-04 2.43977366e+02] [ 9.92274030e-01 9.09950316e-02 -8.43335837e-02 2.25395487e+02] [ 8.39927294e-02 7.57565654e-03 9.96437570e-01 3.13749124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.877105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.45, Z:31.37 [[ 1.06283211e-01 -9.94335892e-01 -1.16965104e-04 2.43975906e+02] [ 9.90792605e-01 1.05914394e-01 -8.43335959e-02 2.25453517e+02] [ 8.38683096e-02 8.84735719e-03 9.96437570e-01 3.13740029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:225.51, Z:31.38 [[ 1.02424972e-01 -9.94740727e-01 -1.08409152e-04 2.43976373e+02] [ 9.91196108e-01 1.02069186e-01 -8.43336069e-02 2.25511500e+02] [ 8.39011387e-02 8.53041263e-03 9.96437570e-01 3.13753390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.57, Z:31.38 [[ 9.49246073e-02 -9.95484461e-01 -8.12027747e-05 2.43974721e+02] [ 9.91937474e-01 9.45932629e-02 -8.43336331e-02 2.25570283e+02] [ 8.39605026e-02 7.92478893e-03 9.96437570e-01 3.13812282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.63, Z:31.39 [[ 8.23096622e-02 -9.96606801e-01 -5.67354676e-05 2.43969854e+02] [ 9.93056069e-01 8.20212086e-02 -8.43336496e-02 2.25627913e+02] [ 8.40521423e-02 6.88513272e-03 9.96437571e-01 3.13899303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.69, Z:31.39 [[ 6.48850365e-02 -9.97892745e-01 -4.81703608e-05 2.43968125e+02] [ 9.94337561e-01 6.46579421e-02 -8.43336545e-02 2.25686727e+02] [ 8.41590566e-02 5.42409465e-03 9.96437571e-01 3.13945245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.74, Z:31.40 [[ 4.77377745e-02 -9.98859902e-01 -2.32976635e-05 2.43969465e+02] [ 9.95301442e-01 4.75696747e-02 -8.43336614e-02 2.25744519e+02] [ 8.42386211e-02 4.00271312e-03 9.96437571e-01 3.14006963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23710568099995 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.80, Z:31.40 [[ 3.71014516e-02 -9.99311504e-01 -1.45334537e-05 2.43965511e+02] [ 9.95751483e-01 3.69705051e-02 -8.43336629e-02 2.25802564e+02] [ 8.42761369e-02 3.11442960e-03 9.96437571e-01 3.14041010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29710568099995 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.85, Z:31.41 [[ 3.47873746e-02 -9.99394736e-01 1.21480284e-05 2.43968422e+02] [ 9.95834500e-01 3.46624232e-02 -8.43336591e-02 2.25849107e+02] [ 8.42821939e-02 2.94584402e-03 9.96437571e-01 3.14129525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35710568099995 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:225.91, Z:31.41 [[ 3.19669217e-02 -9.99488923e-01 -9.68700788e-05 2.43967045e+02] [ 9.95928069e-01 3.18612076e-02 -8.43335344e-02 2.25907568e+02] [ 8.42935198e-02 2.59940786e-03 9.96437577e-01 3.14103859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41710568099995 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:225.96, Z:31.43 [[ 3.69372574e-02 -9.99317583e-01 -8.79989614e-05 2.43963793e+02] [ 9.95757325e-01 3.68130878e-02 -8.43335437e-02 2.25964730e+02] [ 8.42792325e-02 3.02742420e-03 9.96437577e-01 3.14330906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47710568099995 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:226.02, Z:31.44 [[ 4.37235250e-02 -9.99043667e-01 -6.28568655e-05 2.43963957e+02] [ 9.95484424e-01 4.35730594e-02 -8.43335624e-02 2.26023555e+02] [ 8.42556504e-02 3.62478760e-03 9.96437578e-01 3.14381331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53710568099996 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.08, Z:31.44 [[ 5.18197561e-02 -9.98656453e-01 -3.53928221e-05 2.43966038e+02] [ 9.95098664e-01 5.16381331e-02 -8.43335740e-02 2.26082088e+02] [ 8.42220955e-02 4.33492589e-03 9.96437578e-01 3.14407459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59710568099996 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.14, Z:31.45 [[ 5.99140593e-02 -9.98203539e-01 -9.65328159e-06 2.43966994e+02] [ 9.94647469e-01 5.97014328e-02 -8.43335770e-02 2.26139660e+02] [ 8.41826513e-02 5.04316532e-03 9.96437578e-01 3.14499823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65710568099996 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.15, Z:31.44 [[ 7.34988442e-02 -9.97295302e-01 2.09430246e-05 2.43970386e+02] [ 9.93742646e-01 7.32352490e-02 -8.43335694e-02 2.26152462e+02] [ 8.41039388e-02 6.21923186e-03 9.96437579e-01 3.14401448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71710568099996 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.21, Z:31.45 [[ 8.40090376e-02 -9.96464987e-01 -1.07304624e-04 2.43968979e+02] [ 9.92914418e-01 8.37187811e-02 -8.43334069e-02 2.26209129e+02] [ 8.40442706e-02 6.97822404e-03 9.96437587e-01 3.14498050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77710568099997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.27, Z:31.45 [[ 8.75135551e-02 -9.96163324e-01 -9.43946293e-05 2.43969133e+02] [ 9.92613892e-01 8.72097265e-02 -8.43334214e-02 2.26266450e+02] [ 8.40180935e-02 7.28662009e-03 9.96437587e-01 3.14535918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83710568099997 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.32, Z:31.46 [[ 6.94299469e-02 -9.97586827e-01 -6.52873004e-05 2.43970024e+02] [ 9.94032634e-01 6.91881017e-02 -8.43334439e-02 2.26324244e+02] [ 8.41344499e-02 5.79036883e-03 9.96437588e-01 3.14574390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89710568099997 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.38, Z:31.46 [[ 5.42715494e-02 -9.98526213e-01 -3.55857317e-05 2.43972627e+02] [ 9.94968889e-01 5.40812085e-02 -8.43334565e-02 2.26383329e+02] [ 8.42110915e-02 4.54150066e-03 9.96437588e-01 3.14568557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.957105681 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.44, Z:31.47 [[ 4.00650270e-02 -9.99197074e-01 -9.03075431e-06 2.43971293e+02] [ 9.95637493e-01 3.99230599e-02 -8.43334594e-02 2.26441354e+02] [ 8.42661064e-02 3.36983097e-03 9.96437588e-01 3.14714475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.017105681 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.46, Z:31.47 [[ 3.56464460e-02 -9.99364463e-01 1.75242188e-05 2.43970515e+02] [ 9.95804369e-01 3.55179817e-02 -8.43334539e-02 2.26455249e+02] [ 8.42792345e-02 3.02363860e-03 9.96437589e-01 3.14674771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.077105681 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.51, Z:31.47 [[ 3.32683277e-02 -9.99446450e-01 -1.13024994e-04 2.43970429e+02] [ 9.95885714e-01 3.31593395e-02 -8.43332796e-02 2.26512993e+02] [ 8.42903448e-02 2.69306721e-03 9.96437597e-01 3.14744333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.137105681 meters Centerline goodness : 0.998591 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.57, Z:31.48 [[ 3.61487233e-02 -9.99346418e-01 -8.26620491e-05 2.43969739e+02] [ 9.95786099e-01 3.60269138e-02 -8.43333094e-02 2.26570057e+02] [ 8.42811688e-02 2.96622775e-03 9.96437598e-01 3.14816222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.197105681 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.63, Z:31.48 [[ 4.68321641e-02 -9.98902770e-01 -7.32098984e-05 2.43967890e+02] [ 9.95343992e-01 4.66714966e-02 -8.43333177e-02 2.26629062e+02] [ 8.42442014e-02 3.87664274e-03 9.96437598e-01 3.14781671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.257105681 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.69, Z:31.48 [[ 5.72117565e-02 -9.98362065e-01 -4.69474003e-05 2.43966697e+02] [ 9.94805274e-01 5.70118981e-02 -8.43333323e-02 2.26686021e+02] [ 8.41978763e-02 4.77815455e-03 9.96437598e-01 3.14843684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.317105681 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.74, Z:31.49 [[ 6.04533686e-02 -9.98171022e-01 -3.80423172e-05 2.43967400e+02] [ 9.94614943e-01 6.02412119e-02 -8.43333363e-02 2.26743327e+02] [ 8.41813842e-02 5.06039681e-03 9.96437598e-01 3.14926148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.377105681 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.80, Z:31.49 [[ 6.67095977e-02 -9.97772433e-01 -2.94156527e-05 2.43968886e+02] [ 9.94217802e-01 6.64744266e-02 -8.43333393e-02 2.26802385e+02] [ 8.41474366e-02 5.59659758e-03 9.96437598e-01 3.14930174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.86, Z:31.50 [[ 7.07090150e-02 -9.97496985e-01 -6.29209613e-06 2.43968045e+02] [ 9.93943463e-01 7.04576504e-02 -8.43333411e-02 2.26859072e+02] [ 8.41226968e-02 5.95687349e-03 9.96437598e-01 3.14994129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.87, Z:31.51 [[ 8.64482484e-02 -9.96256343e-01 5.72875354e-06 2.43969316e+02] [ 9.92707319e-01 8.61398037e-02 -8.43333403e-02 2.26866423e+02] [ 8.40171317e-02 7.29615652e-03 9.96437599e-01 3.15132808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.92, Z:31.52 [[ 9.72243195e-02 -9.95262487e-01 -1.20707756e-04 2.43971156e+02] [ 9.91715995e-01 9.68881010e-02 -8.43331600e-02 2.26924459e+02] [ 8.39453256e-02 8.07952628e-03 9.96437606e-01 3.15169577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:226.98, Z:31.52 [[ 1.00459400e-01 -9.94941154e-01 -9.10426940e-05 2.43974880e+02] [ 9.91396020e-01 1.00109164e-01 -8.43331920e-02 2.26982365e+02] [ 8.39156776e-02 8.38180252e-03 9.96437607e-01 3.15152837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.04, Z:31.52 [[ 9.36332099e-02 -9.95606759e-01 -6.15569485e-05 2.43975417e+02] [ 9.92059534e-01 9.33048205e-02 -8.43332136e-02 2.27039122e+02] [ 8.39684610e-02 7.83532133e-03 9.96437607e-01 3.15231332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73710568099995 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.10, Z:31.52 [[ 7.32472369e-02 -9.97313812e-01 -4.89473629e-05 2.43980797e+02] [ 9.93760689e-01 7.29904185e-02 -8.43332209e-02 2.27098349e+02] [ 8.41102587e-02 6.12853345e-03 9.96437607e-01 3.15200366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79710568099995 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.16, Z:31.52 [[ 5.45318643e-02 -9.98512031e-01 -2.56444149e-05 2.43983099e+02] [ 9.94954822e-01 5.43397599e-02 -8.43332280e-02 2.27157466e+02] [ 8.42091363e-02 4.57333311e-03 9.96437608e-01 3.15228454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85710568099995 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.22, Z:31.54 [[ 4.05099795e-02 -9.99179134e-01 -3.86082955e-06 2.43979297e+02] [ 9.95619653e-01 4.03659924e-02 -8.43332291e-02 2.27215142e+02] [ 8.42641586e-02 3.41249347e-03 9.96437608e-01 3.15378413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91710568099995 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:227.22, Z:31.54 [[ 4.02498297e-02 -9.99189647e-01 2.11186529e-05 2.43971684e+02] [ 9.95630214e-01 4.01046645e-02 -8.43332228e-02 2.27220776e+02] [ 8.42640362e-02 3.41542422e-03 9.96437608e-01 3.15362067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97710568099995 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.28, Z:31.54 [[ 3.00933848e-02 -9.99547087e-01 -9.77544499e-05 2.43975206e+02] [ 9.95986077e-01 2.99944211e-02 -8.43330856e-02 2.27278165e+02] [ 8.42978221e-02 2.44050593e-03 9.96437615e-01 3.15414100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03710568099996 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.34, Z:31.55 [[ 3.14727219e-02 -9.99504608e-01 -8.57878268e-05 2.43980654e+02] [ 9.95943767e-01 3.13678354e-02 -8.43330978e-02 2.27335126e+02] [ 8.42940108e-02 2.56875228e-03 9.96437615e-01 3.15464327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09710568099996 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.39, Z:31.55 [[ 3.64595554e-02 -9.99335127e-01 -7.00651022e-05 2.43984003e+02] [ 9.95774900e-01 3.63355775e-02 -8.43331109e-02 2.27392826e+02] [ 8.42795859e-02 3.00497866e-03 9.96437615e-01 3.15537090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15710568099996 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.45, Z:31.55 [[ 4.57397448e-02 -9.98953389e-01 -4.25782580e-05 2.43985678e+02] [ 9.95394571e-01 4.55803893e-02 -8.43331248e-02 2.27450584e+02] [ 8.42468016e-02 3.81499344e-03 9.96437616e-01 3.15538021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21710568099996 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.51, Z:31.56 [[ 4.65813492e-02 -9.98914500e-01 -1.80320849e-05 2.43983222e+02] [ 9.95355912e-01 4.64169276e-02 -8.43331301e-02 2.27508941e+02] [ 8.42424234e-02 3.91040264e-03 9.96437616e-01 3.15583008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27710568099997 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.51, Z:31.55 [[ 3.52448528e-02 -9.99378707e-01 7.19118278e-06 2.43981756e+02] [ 9.95818558e-01 3.51186911e-02 -8.43331279e-02 2.27509434e+02] [ 8.42804798e-02 2.97946980e-03 9.96437616e-01 3.15538100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33710568099997 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.57, Z:31.56 [[ 1.75498532e-02 -9.99845982e-01 -1.19214631e-04 2.43988181e+02] [ 9.96283993e-01 1.74973864e-02 -8.43329499e-02 2.27566980e+02] [ 8.43220471e-02 1.36125926e-03 9.96437624e-01 3.15602222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39710568099997 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.63, Z:31.56 [[ 1.18389406e-02 -9.99929912e-01 -1.03624400e-04 2.43989254e+02] [ 9.96367693e-01 1.18055043e-02 -8.43329691e-02 2.27626311e+02] [ 8.43282817e-02 8.95165006e-04 9.96437625e-01 3.15610074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.457105681 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.68, Z:31.57 [[ 1.87418286e-02 -9.99824353e-01 -7.86201814e-05 2.43992028e+02] [ 9.96262486e-01 1.86816924e-02 -8.43329924e-02 2.27683609e+02] [ 8.43196484e-02 1.50222815e-03 9.96437625e-01 3.15667995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.517105681 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.74, Z:31.57 [[ 2.80861848e-02 -9.99605503e-01 -6.92002138e-05 2.43994563e+02] [ 9.96044374e-01 2.79919650e-02 -8.43330002e-02 2.27741139e+02] [ 8.43016681e-02 2.29966574e-03 9.96437625e-01 3.15706964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.577105681 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:227.80, Z:31.57 [[ 3.54784302e-02 -9.99370441e-01 -6.04774796e-05 2.43998708e+02] [ 9.95810131e-01 3.53571399e-02 -8.43330064e-02 2.27798854e+02] [ 8.42820521e-02 2.93177860e-03 9.96437625e-01 3.15727326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.637105681 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:227.86, Z:31.59 [[ 4.81627206e-02 -9.98839502e-01 -3.29330720e-05 2.43996032e+02] [ 9.95281129e-01 4.79939211e-02 -8.43330172e-02 2.27856973e+02] [ 8.42367295e-02 4.02892988e-03 9.96437625e-01 3.15867956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.697105681 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:227.92, Z:31.59 [[ 5.72565940e-02 -9.98359496e-01 -1.09164198e-05 2.43991556e+02] [ 9.94802913e-01 5.70535436e-02 -8.43330201e-02 2.27916288e+02] [ 8.41952942e-02 4.81776180e-03 9.96437626e-01 3.15894007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.757105681 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.92, Z:31.59 [[ 6.95366658e-02 -9.97579396e-01 1.31334983e-06 2.43983030e+02] [ 9.94025653e-01 6.92888397e-02 -8.43330199e-02 2.27923847e+02] [ 8.41287921e-02 5.86554253e-03 9.96437626e-01 3.15929881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.817105681 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:227.98, Z:31.60 [[ 7.53079396e-02 -9.97160318e-01 -1.23702793e-04 2.43980580e+02] [ 9.93607297e-01 7.50500688e-02 -8.43328372e-02 2.27981661e+02] [ 8.41026426e-02 6.22802021e-03 9.96437633e-01 3.15988531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.877105681 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:228.04, Z:31.58 [[ 6.03311909e-02 -9.98178408e-01 -1.14131315e-04 2.43969550e+02] [ 9.94621963e-01 6.01258774e-02 -8.43328501e-02 2.28041794e+02] [ 8.41860923e-02 4.97438377e-03 9.96437633e-01 3.15787240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.10, Z:31.60 [[ 6.21717215e-02 -9.98065462e-01 -1.06171602e-04 2.43983260e+02] [ 9.94509441e-01 6.19591802e-02 -8.43328602e-02 2.28098676e+02] [ 8.41762933e-02 5.13753043e-03 9.96437634e-01 3.15982055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.16, Z:31.60 [[ 5.05702105e-02 -9.98720505e-01 -8.03607849e-05 2.43982971e+02] [ 9.95162361e-01 5.03968296e-02 -8.43328848e-02 2.28156666e+02] [ 8.42290312e-02 4.18475971e-03 9.96437634e-01 3.16025489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.21, Z:31.61 [[ 4.41092595e-02 -9.99026711e-01 -6.73319763e-05 2.43981531e+02] [ 9.95467566e-01 4.39577991e-02 -8.43328952e-02 2.28213839e+02] [ 8.42537746e-02 3.65283476e-03 9.96437634e-01 3.16126916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.27, Z:31.61 [[ 3.65189816e-02 -9.99332959e-01 -3.86674182e-05 2.43983558e+02] [ 9.95772852e-01 3.63921464e-02 -8.43329084e-02 2.28270742e+02] [ 8.42780620e-02 3.04124796e-03 9.96437634e-01 3.16118757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17710568099994 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.33, Z:31.62 [[ 3.04810120e-02 -9.99535346e-01 -1.26948153e-05 2.43982817e+02] [ 9.95974603e-01 3.03734976e-02 -8.43329123e-02 2.28327621e+02] [ 8.42941123e-02 2.55790880e-03 9.96437635e-01 3.16212360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23710568099995 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.34, Z:31.63 [[ 2.80431919e-02 -9.99606712e-01 1.47450656e-05 2.43979934e+02] [ 9.96045783e-01 2.79420488e-02 -8.43329075e-02 2.28342682e+02] [ 8.42993284e-02 2.37965067e-03 9.96437635e-01 3.16277127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29710568099995 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:228.40, Z:31.63 [[ 2.24306374e-02 -9.99748396e-01 -1.08454654e-04 2.43982717e+02] [ 9.96186741e-01 2.23598757e-02 -8.43327497e-02 2.28400282e+02] [ 8.43139563e-02 1.78359624e-03 9.96437643e-01 3.16261217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35710568099995 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.46, Z:31.63 [[ 2.03086028e-02 -9.99793754e-01 -9.75232493e-05 2.43985032e+02] [ 9.96231974e-01 2.02444792e-02 -8.43327624e-02 2.28459067e+02] [ 8.43173434e-02 1.61552480e-03 9.96437643e-01 3.16321762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41710568099995 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.52, Z:31.64 [[ 2.92918031e-02 -9.99570901e-01 -7.07085238e-05 2.43988649e+02] [ 9.96009903e-01 2.91934159e-02 -8.43327849e-02 2.28517609e+02] [ 8.42986620e-02 2.39983294e-03 9.96437643e-01 3.16361128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47710568099995 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.58, Z:31.64 [[ 3.39507653e-02 -9.99423506e-01 -4.39477202e-05 2.43993188e+02] [ 9.95863079e-01 3.38335247e-02 -8.43327989e-02 2.28575901e+02] [ 8.42856684e-02 2.81939715e-03 9.96437643e-01 3.16439711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53710568099996 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.64, Z:31.64 [[ 4.39788507e-02 -9.99032462e-01 -1.74308391e-05 2.43993345e+02] [ 9.95473488e-01 4.38236510e-02 -8.43328044e-02 2.28635298e+02] [ 8.42519731e-02 3.69150788e-03 9.96437644e-01 3.16416912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59710568099996 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.62, Z:31.64 [[ 7.20566355e-02 -9.97400542e-01 9.10857946e-06 2.43992358e+02] [ 9.93847502e-01 7.17991779e-02 -8.43328015e-02 2.28619932e+02] [ 8.41129280e-02 6.08579048e-03 9.96437644e-01 3.16422310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65710568099996 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.68, Z:31.65 [[ 8.99542880e-02 -9.95945889e-01 -1.07066480e-04 2.43990962e+02] [ 9.92397182e-01 8.96428330e-02 -8.43326546e-02 2.28678020e+02] [ 8.40003585e-02 7.47983143e-03 9.96437651e-01 3.16504623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71710568099996 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:228.74, Z:31.66 [[ 8.92423881e-02 -9.96009934e-01 -8.14547312e-05 2.43991392e+02] [ 9.92461193e-01 8.89313181e-02 -8.43326794e-02 2.28735721e+02] [ 8.40034303e-02 7.44520905e-03 9.96437651e-01 3.16608235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77710568099997 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:228.79, Z:31.67 [[ 8.21983187e-02 -9.96615990e-01 -7.23802320e-05 2.43996686e+02] [ 9.93065199e-01 8.19115834e-02 -8.43326872e-02 2.28793900e+02] [ 8.40532333e-02 6.86012681e-03 9.96437651e-01 3.16699453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83710568099997 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:228.85, Z:31.67 [[ 7.78604894e-02 -9.96964263e-01 -5.60553373e-05 2.44005774e+02] [ 9.93412363e-01 7.75878364e-02 -8.43326980e-02 2.28851997e+02] [ 8.40810353e-02 6.51049908e-03 9.96437651e-01 3.16668822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89710568099997 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:228.91, Z:31.66 [[ 7.42774079e-02 -9.97237618e-01 -2.25691943e-05 2.44013576e+02] [ 9.93684969e-01 7.40147040e-02 -8.43327071e-02 2.28911501e+02] [ 8.41014183e-02 6.24158821e-03 9.96437652e-01 3.16600466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.957105681 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:228.92, Z:31.65 [[ 6.96775405e-02 -9.97569567e-01 2.83970603e-06 2.44021187e+02] [ 9.94015894e-01 6.94290859e-02 -8.43327062e-02 2.28921292e+02] [ 8.41275440e-02 5.87891826e-03 9.96437652e-01 3.16544971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.017105681 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:228.98, Z:31.66 [[ 6.22759822e-02 -9.98058964e-01 -7.83494790e-05 2.44026746e+02] [ 9.94503129e-01 6.20607287e-02 -8.43326311e-02 2.28980341e+02] [ 8.41738008e-02 5.17397863e-03 9.96437655e-01 3.16600584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.077105681 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:229.04, Z:31.67 [[ 4.65869582e-02 -9.98914237e-01 -5.47898011e-05 2.44028986e+02] [ 9.95355548e-01 4.64256151e-02 -8.43326464e-02 2.29037620e+02] [ 8.42436248e-02 3.87426614e-03 9.96437656e-01 3.16685638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.137105681 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:229.10, Z:31.68 [[ 3.44000222e-02 -9.99408143e-01 -4.58990869e-05 2.44027469e+02] [ 9.95847776e-01 3.42813461e-02 -8.43326512e-02 2.29095610e+02] [ 8.42843119e-02 2.85533657e-03 9.96437656e-01 3.16758905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.197105681 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:229.15, Z:31.69 [[ 2.08195062e-02 -9.99783250e-01 -2.08256320e-05 2.44023414e+02] [ 9.96221642e-01 2.07470959e-02 -8.43326575e-02 2.29152485e+02] [ 8.43148105e-02 1.73501734e-03 9.96437656e-01 3.16861225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.257105681 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:229.21, Z:31.69 [[ 1.19442534e-02 -9.99928665e-01 -1.20110763e-05 2.44019666e+02] [ 9.96366563e-01 1.19027167e-02 -8.43326587e-02 2.29211655e+02] [ 8.43267858e-02 9.95323211e-04 9.96437656e-01 3.16869916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.317105681 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:229.38, Z:31.70 [[ 7.69053232e-03 -9.99970427e-01 1.31302094e-05 2.44004646e+02] [ 9.96408198e-01 7.66202873e-03 -8.43326548e-02 2.29376698e+02] [ 8.43300603e-02 6.61646056e-04 9.96437656e-01 3.17016487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.377105681 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:229.44, Z:31.70 [[ 7.84863459e-03 -9.99969198e-01 -5.00387902e-05 2.43993368e+02] [ 9.96406935e-01 7.82489487e-03 -8.43326175e-02 2.29435967e+02] [ 8.43304114e-02 6.12036902e-04 9.96437658e-01 3.17016342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:229.49, Z:31.70 [[ 1.64669262e-02 -9.99864411e-01 -2.28002618e-05 2.43985487e+02] [ 9.96302521e-01 1.64101879e-02 -8.43326249e-02 2.29493671e+02] [ 8.43215645e-02 1.36598315e-03 9.96437659e-01 3.16992069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:229.55, Z:31.71 [[ 2.65042109e-02 -9.99648702e-01 -1.13730459e-05 2.43985320e+02] [ 9.96087587e-01 2.64107526e-02 -8.43326265e-02 2.29551991e+02] [ 8.43033009e-02 2.22384117e-03 9.96437659e-01 3.17113393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:229.57, Z:31.71 [[ 4.35298500e-02 -9.99052127e-01 2.60220155e-06 2.43991197e+02] [ 9.95493172e-01 4.33745625e-02 -8.43326260e-02 2.29568848e+02] [ 8.42525765e-02 3.67357703e-03 9.96437659e-01 3.17077773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:229.63, Z:31.72 [[ 5.20525084e-02 -9.98644327e-01 -2.09474104e-04 2.43995898e+02] [ 9.95085962e-01 5.18847245e-02 -8.43321012e-02 2.29626847e+02] [ 8.42286429e-02 4.18125267e-03 9.96437681e-01 3.17230276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67710568099994 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:229.69, Z:31.73 [[ 5.70647649e-02 -9.98370461e-01 -1.86319442e-04 2.44000904e+02] [ 9.94813086e-01 5.68771711e-02 -8.43321523e-02 2.29685287e+02] [ 8.42053271e-02 4.62704143e-03 9.96437682e-01 3.17300241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73710568099995 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:229.74, Z:31.73 [[ 6.61588251e-02 -9.97809092e-01 -1.60197323e-04 2.44007861e+02] [ 9.94253710e-01 6.59366282e-02 -8.43322020e-02 2.29742987e+02] [ 8.41580008e-02 5.42004262e-03 9.96437682e-01 3.17280133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79710568099995 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:229.80, Z:31.73 [[ 6.95709651e-02 -9.97576994e-01 -1.49259104e-04 2.44013042e+02] [ 9.94022454e-01 6.93356896e-02 -8.43322214e-02 2.29801305e+02] [ 8.41382328e-02 5.71870713e-03 9.96437682e-01 3.17293956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85710568099995 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:229.86, Z:31.73 [[ 7.07891168e-02 -9.97491296e-01 -1.23696688e-04 2.44017345e+02] [ 9.93937192e-01 7.05473500e-02 -8.43322589e-02 2.29858936e+02] [ 8.41294207e-02 5.84685939e-03 9.96437682e-01 3.17286976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91710568099995 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:229.92, Z:31.73 [[ 6.73822999e-02 -9.97727223e-01 -1.14772945e-04 2.44022429e+02] [ 9.94172363e-01 6.71519207e-02 -8.43322710e-02 2.29917235e+02] [ 8.41483098e-02 5.56839829e-03 9.96437682e-01 3.17315810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97710568099995 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:229.97, Z:31.73 [[ 5.88538762e-02 -9.98266604e-01 -8.91613154e-05 2.44028540e+02] [ 9.94710027e-01 5.86517266e-02 -8.43322981e-02 2.29974533e+02] [ 8.41913464e-02 4.87459298e-03 9.96437683e-01 3.17333592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03710568099996 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:230.03, Z:31.75 [[ 4.86352062e-02 -9.98816605e-01 -7.84295652e-05 2.44031465e+02] [ 9.95258188e-01 4.84685588e-02 -8.43323081e-02 2.30032634e+02] [ 8.42363111e-02 4.02346153e-03 9.96437683e-01 3.17478168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09710568099996 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:230.09, Z:31.76 [[ 3.69290586e-02 -9.99317888e-01 -6.58577228e-05 2.44039109e+02] [ 9.95757800e-01 3.68030559e-02 -8.43323179e-02 2.30091049e+02] [ 8.42772176e-02 3.04873477e-03 9.96437683e-01 3.17569984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15710568099996 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:230.15, Z:31.76 [[ 3.06755493e-02 -9.99529394e-01 -3.91891037e-05 2.44044161e+02] [ 9.95968654e-01 3.05695767e-02 -8.43323304e-02 2.30148934e+02] [ 8.42938410e-02 2.54790944e-03 9.96437683e-01 3.17620352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21710568099996 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:230.21, Z:31.77 [[ 2.91322973e-02 -9.99575564e-01 -2.98230944e-05 2.44045527e+02] [ 9.96014687e-01 2.90310328e-02 -8.43323337e-02 2.30207531e+02] [ 8.42974058e-02 2.42709038e-03 9.96437683e-01 3.17669349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27710568099997 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:230.27, Z:31.78 [[ 2.48506188e-02 -9.99691176e-01 -4.90421070e-06 2.44050574e+02] [ 9.96129949e-01 2.47625065e-02 -8.43323352e-02 2.30265991e+02] [ 8.43064127e-02 2.09082548e-03 9.96437684e-01 3.17765338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33710568099997 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:230.26, Z:31.77 [[ 2.70480412e-02 -9.99634135e-01 1.92950109e-05 2.44056057e+02] [ 9.96073166e-01 2.69500609e-02 -8.43323296e-02 2.30255539e+02] [ 8.43009554e-02 2.30024357e-03 9.96437684e-01 3.17695695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39710568099997 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:230.31, Z:31.77 [[ 3.57339009e-02 -9.99361338e-01 -6.30180764e-05 2.44054852e+02] [ 9.95801115e-01 3.56119168e-02 -8.43322684e-02 2.30314614e+02] [ 8.42806528e-02 2.95076745e-03 9.96437687e-01 3.17696526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.457105681 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:230.37, Z:31.78 [[ 5.81525020e-02 -9.98307711e-01 -3.75116157e-05 2.44051765e+02] [ 9.94751244e-01 5.79485027e-02 -8.43322798e-02 2.30372518e+02] [ 8.41917389e-02 4.86681834e-03 9.96437688e-01 3.17761866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.517105681 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:230.43, Z:31.79 [[ 7.27580643e-02 -9.97349620e-01 -8.30877720e-06 2.44049513e+02] [ 9.93796698e-01 7.24995762e-02 -8.43322827e-02 2.30430815e+02] [ 8.41093725e-02 6.12759641e-03 9.96437688e-01 3.17890020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.577105681 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:230.45, Z:31.79 [[ 7.61135227e-02 -9.97099158e-01 1.66020379e-05 2.44057230e+02] [ 9.93547287e-01 7.58409866e-02 -8.43322778e-02 2.30446244e+02] [ 8.40863841e-02 6.43532165e-03 9.96437688e-01 3.17920483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.637105681 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:230.50, Z:31.80 [[ 7.11278561e-02 -9.97467205e-01 -5.39014467e-05 2.44069951e+02] [ 9.93913598e-01 7.08790110e-02 -8.43322330e-02 2.30504741e+02] [ 8.41224572e-02 5.94479755e-03 9.96437691e-01 3.17980824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.697105681 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:230.56, Z:31.80 [[ 6.44888655e-02 -9.97918426e-01 -2.73242560e-05 2.44091164e+02] [ 9.94363385e-01 6.42614358e-02 -8.43322416e-02 2.30563562e+02] [ 8.41584537e-02 5.41132035e-03 9.96437691e-01 3.18008450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.757105681 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:230.62, Z:31.80 [[ 6.18537515e-02 -9.98085224e-01 -1.17266101e-06 2.44112101e+02] [ 9.94529730e-01 6.16335080e-02 -8.43322420e-02 2.30621853e+02] [ 8.41708369e-02 5.21509929e-03 9.96437691e-01 3.18029060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.817105681 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:230.67, Z:31.80 [[ 6.40774670e-02 -9.97944927e-01 2.68532915e-05 2.44128051e+02] [ 9.94390086e-01 6.38469434e-02 -8.43322331e-02 2.30674972e+02] [ 8.41572097e-02 5.43049853e-03 9.96437692e-01 3.18019902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.877105681 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:230.73, Z:31.81 [[ 6.04359228e-02 -9.98171984e-01 -4.35508340e-04 2.44141867e+02] [ 9.94614263e-01 6.02573086e-02 -8.43298543e-02 2.30731287e+02] [ 8.42019406e-02 4.66338976e-03 9.96437798e-01 3.18103508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:230.79, Z:31.82 [[ 5.61039896e-02 -9.98424847e-01 -4.08616010e-04 2.44153471e+02] [ 9.94866490e-01 5.59385495e-02 -8.43299847e-02 2.30788695e+02] [ 8.42200094e-02 4.32473021e-03 9.96437799e-01 3.18151091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:230.85, Z:31.82 [[ 4.12051509e-02 -9.99150636e-01 -3.76671328e-04 2.44163864e+02] [ 9.95590293e-01 4.10901135e-02 -8.43301274e-02 2.30845459e+02] [ 8.42739779e-02 3.09982531e-03 9.96437799e-01 3.18244177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters Centerline goodness : 0.998642 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:230.90, Z:31.84 [[ 2.57314342e-02 -9.99668834e-01 -3.39650745e-04 2.44174999e+02] [ 9.96107192e-01 2.56684100e-02 -8.43302766e-02 2.30901325e+02] [ 8.43110675e-02 1.83161041e-03 9.96437800e-01 3.18362960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:230.96, Z:31.84 [[ 1.20891858e-02 -9.99926876e-01 -3.08610647e-04 2.44189020e+02] [ 9.96364717e-01 1.20721462e-02 -8.43303902e-02 2.30958003e+02] [ 8.43279492e-02 7.11996998e-04 9.96437800e-01 3.18379611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17710568099994 meters Centerline goodness : 0.998045 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:231.02, Z:31.85 [[ 1.78067099e-02 -9.99841409e-01 -2.80153511e-04 2.44191265e+02] [ 9.96279432e-01 1.77669020e-02 -8.43304848e-02 2.31015252e+02] [ 8.43220881e-02 1.22253730e-03 9.96437801e-01 3.18452047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23710568099995 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:231.07, Z:31.85 [[ 3.51952281e-02 -9.99380425e-01 -2.49567495e-04 2.44188765e+02] [ 9.95819755e-01 3.50908910e-02 -8.43305753e-02 2.31072218e+02] [ 8.42870837e-02 2.71950959e-03 9.96437801e-01 3.18515022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29710568099995 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:231.13, Z:31.85 [[ 4.93425901e-02 -9.98781886e-01 -2.30286383e-04 2.44184640e+02] [ 9.95223121e-01 4.91862211e-02 -8.43306280e-02 2.31130542e+02] [ 8.42392306e-02 3.93190527e-03 9.96437801e-01 3.18497578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35710568099995 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:231.19, Z:31.86 [[ 5.52360635e-02 -9.98473303e-01 -2.02211764e-04 2.44178644e+02] [ 9.94915642e-01 5.50563306e-02 -8.43306953e-02 2.31187571e+02] [ 8.42130809e-02 4.45691200e-03 9.96437802e-01 3.18587260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41710568099995 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:231.25, Z:31.86 [[ 6.15392702e-02 -9.98104648e-01 -1.71825831e-04 2.44176703e+02] [ 9.94548340e-01 6.13345197e-02 -8.43307573e-02 2.31245879e+02] [ 8.41814597e-02 5.01876416e-03 9.96437802e-01 3.18613133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47710568099995 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:231.30, Z:31.86 [[ 6.72380646e-02 -9.97736951e-01 -1.37339299e-04 2.44177747e+02] [ 9.94182056e-01 6.70101064e-02 -8.43308135e-02 2.31303896e+02] [ 8.41491719e-02 5.53370042e-03 9.96437803e-01 3.18635121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53710568099996 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:231.36, Z:31.87 [[ 7.25529707e-02 -9.97364555e-01 -1.03351970e-04 2.44180333e+02] [ 9.93811125e-01 7.23032163e-02 -8.43308552e-02 2.31362338e+02] [ 8.41160786e-02 6.01574173e-03 9.96437803e-01 3.18720955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59710568099996 meters Centerline goodness : 0.998549 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:231.42, Z:31.87 [[ 7.05999705e-02 -9.97504706e-01 -7.33183624e-05 2.44189527e+02] [ 9.93950968e-01 7.03546475e-02 -8.43308814e-02 2.31421571e+02] [ 8.41256093e-02 5.88088288e-03 9.96437804e-01 3.18702069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65710568099996 meters Centerline goodness : 0.998563 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:231.48, Z:31.87 [[ 6.64467354e-02 -9.97789972e-01 -5.46953871e-05 2.44194522e+02] [ 9.94235345e-01 6.62146416e-02 -8.43308934e-02 2.31478695e+02] [ 8.41481415e-02 5.54913248e-03 9.96437804e-01 3.18712590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71710568099996 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:231.54, Z:31.88 [[ 5.74783512e-02 -9.98346752e-01 -3.10552313e-05 2.44200703e+02] [ 9.94790296e-01 5.72762167e-02 -8.43309022e-02 2.31535922e+02] [ 8.41932610e-02 4.81630777e-03 9.96437804e-01 3.18824692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77710568099997 meters Centerline goodness : 0.997951 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:231.59, Z:31.88 [[ 4.97241899e-02 -9.98762987e-01 -8.06281597e-07 2.44206916e+02] [ 9.95205195e-01 4.95471306e-02 -8.43309025e-02 2.31594513e+02] [ 8.42266241e-02 4.19248340e-03 9.96437805e-01 3.18795946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83710568099997 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:231.84, Z:31.90 [[ 4.65784896e-02 -9.98914633e-01 3.07144832e-05 2.44211338e+02] [ 9.95356426e-01 4.64099806e-02 -8.43308911e-02 2.31835458e+02] [ 8.42379356e-02 3.95857739e-03 9.96437805e-01 3.19023103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89710568099997 meters Centerline goodness : 0.997319 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:231.83, Z:31.91 [[ 5.49579172e-02 -9.98488672e-01 4.83305342e-06 2.44216311e+02] [ 9.94931883e-01 5.47617395e-02 -8.43308926e-02 2.31829428e+02] [ 8.42031762e-02 4.63945877e-03 9.96437806e-01 3.19098291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.957105681 meters Centerline goodness : 0.997649 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:231.89, Z:31.91 [[ 7.22026486e-02 -9.97389970e-01 -1.61368021e-04 2.44220698e+02] [ 9.93836130e-01 7.19590243e-02 -8.43305757e-02 2.31887342e+02] [ 8.41220822e-02 5.92851756e-03 9.96437819e-01 3.19108315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.017105681 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:231.94, Z:31.92 [[ 8.13522374e-02 -9.96685406e-01 -1.23719609e-04 2.44224616e+02] [ 9.93134200e-01 8.10728461e-02 -8.43306310e-02 2.31943921e+02] [ 8.40611395e-02 6.73761534e-03 9.96437820e-01 3.19192350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.077105681 meters Centerline goodness : 0.997480 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:232.00, Z:31.92 [[ 8.28409932e-02 -9.96562773e-01 -9.20638799e-05 2.44228569e+02] [ 9.93012203e-01 8.25536365e-02 -8.43306656e-02 2.32002365e+02] [ 8.40484022e-02 6.89461554e-03 9.96437821e-01 3.19178548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.137105681 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:232.06, Z:31.92 [[ 7.78453304e-02 -9.96965446e-01 -5.61349332e-05 2.44234411e+02] [ 9.93413712e-01 7.75727512e-02 -8.43306896e-02 2.32058924e+02] [ 8.40791381e-02 6.50898518e-03 9.96437821e-01 3.19240335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.197105681 meters Centerline goodness : 0.996646 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:232.12, Z:31.92 [[ 6.56529712e-02 -9.97842516e-01 -2.50220945e-05 2.44243213e+02] [ 9.94287885e-01 6.54212092e-02 -8.43306989e-02 2.32116806e+02] [ 8.41503937e-02 5.51168178e-03 9.96437822e-01 3.19233588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.257105681 meters Centerline goodness : 0.995383 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:232.09, Z:31.92 [[ 4.78876471e-02 -9.98852728e-01 8.42527328e-06 2.44252060e+02] [ 9.95294672e-01 4.77163531e-02 -8.43306956e-02 2.32088695e+02] [ 8.42335433e-02 4.04678421e-03 9.96437822e-01 3.19210213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.317105681 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:232.15, Z:31.93 [[ 4.35526246e-02 -9.99051133e-01 -5.56017571e-05 2.44254988e+02] [ 9.95492136e-01 4.34021671e-02 -8.43306535e-02 2.32145112e+02] [ 8.42530482e-02 3.61747018e-03 9.96437824e-01 3.19289699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.377105681 meters Centerline goodness : 0.995453 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:232.20, Z:31.93 [[ 4.85768879e-02 -9.98819446e-01 -3.30424080e-05 2.44255345e+02] [ 9.95261341e-01 4.84066318e-02 -8.43306624e-02 2.32201426e+02] [ 8.42327049e-02 4.06363530e-03 9.96437825e-01 3.19347740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters Centerline goodness : 0.995882 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:232.21, Z:31.93 [[ 6.36307345e-02 -9.97973511e-01 8.82828880e-07 2.44257950e+02] [ 9.94418560e-01 6.34039964e-02 -8.43306621e-02 2.32209489e+02] [ 8.41597110e-02 5.36689987e-03 9.96437825e-01 3.19259635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters Centerline goodness : 0.995206 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:232.27, Z:31.94 [[ 7.02120536e-02 -9.97532086e-01 -6.79578487e-05 2.44261257e+02] [ 9.93978307e-01 6.99676633e-02 -8.43306068e-02 2.32265982e+02] [ 8.41272410e-02 5.85347646e-03 9.96437828e-01 3.19385875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:232.32, Z:31.94 [[ 7.58814739e-02 -9.97116843e-01 -5.73471491e-05 2.44269115e+02] [ 9.93564577e-01 7.56159935e-02 -8.43306140e-02 2.32324531e+02] [ 8.40918120e-02 6.34215319e-03 9.96437828e-01 3.19369342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters Centerline goodness : 0.994787 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:232.38, Z:31.95 [[ 7.54103570e-02 -9.97152585e-01 -2.56351185e-05 2.44274003e+02] [ 9.93600394e-01 7.51438881e-02 -8.43306237e-02 2.32380731e+02] [ 8.40924257e-02 6.33393137e-03 9.96437828e-01 3.19495635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67710568099994 meters Centerline goodness : 0.994712 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:232.44, Z:31.95 [[ 7.39760842e-02 -9.97260016e-01 -4.57824602e-06 2.44282446e+02] [ 9.93707576e-01 7.37129537e-02 -8.43306249e-02 2.32439480e+02] [ 8.40998977e-02 6.23389997e-03 9.96437828e-01 3.19498864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73710568099995 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:232.53, Z:31.97 [[ 7.23478611e-02 -9.97379460e-01 2.75184732e-05 2.44288479e+02] [ 9.93826792e-01 7.20878311e-02 -8.43306144e-02 2.32527629e+02] [ 8.41076389e-02 6.12848817e-03 9.96437829e-01 3.19653001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79710568099995 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:232.59, Z:31.97 [[ 6.54362835e-02 -9.97856749e-01 -4.60216998e-05 2.44300162e+02] [ 9.94301963e-01 6.52070613e-02 -8.43305745e-02 2.32585775e+02] [ 8.41528338e-02 5.47251992e-03 9.96437832e-01 3.19690847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85710568099995 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:232.64, Z:31.97 [[ 5.73156817e-02 -9.98356105e-01 -1.27756683e-05 2.44309928e+02] [ 9.94799731e-01 5.71125892e-02 -8.43305796e-02 2.32644182e+02] [ 8.41926786e-02 4.82075543e-03 9.96437832e-01 3.19690704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91710568099995 meters Centerline goodness : 0.995188 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:232.53, Z:31.95 [[ 5.03280757e-02 -9.98732739e-01 1.93977640e-05 2.44320046e+02] [ 9.95175169e-01 5.01471650e-02 -8.43305722e-02 2.32534732e+02] [ 8.42227307e-02 4.26349960e-03 9.96437833e-01 3.19496761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97710568099995 meters Centerline goodness : 0.995825 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:232.59, Z:31.95 [[ 4.20576297e-02 -9.99115184e-01 -6.26385746e-05 2.44328953e+02] [ 9.95555954e-01 4.19130914e-02 -8.43305116e-02 2.32591436e+02] [ 8.42585200e-02 3.48438122e-03 9.96437836e-01 3.19543533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03710568099996 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.65, Z:31.96 [[ 3.22330807e-02 -9.99480379e-01 -3.86672280e-05 2.44336244e+02] [ 9.95919962e-01 3.21215203e-02 -8.43305226e-02 2.32649789e+02] [ 8.42879447e-02 2.67972307e-03 9.96437836e-01 3.19569555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09710568099996 meters Centerline goodness : 0.997028 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.71, Z:31.98 [[ 2.83024853e-02 -9.99599404e-01 -6.48065874e-06 2.44338539e+02] [ 9.96038653e-01 2.82022135e-02 -8.43305251e-02 2.32705673e+02] [ 8.42969255e-02 2.38030846e-03 9.96437837e-01 3.19757101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15710568099996 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.57, Z:31.96 [[ 3.05423298e-02 -9.99533474e-01 2.58334997e-05 2.44340104e+02] [ 9.95973040e-01 3.04313555e-02 -8.43305153e-02 2.32569230e+02] [ 8.42903867e-02 2.60137988e-03 9.96437837e-01 3.19575506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21710568099996 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.62, Z:31.97 [[ 2.46859909e-02 -9.99695253e-01 -5.27943508e-05 2.44341629e+02] [ 9.96134072e-01 2.46025064e-02 -8.43304663e-02 2.32624644e+02] [ 8.43060657e-02 2.02919088e-03 9.96437840e-01 3.19717267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27710568099997 meters Centerline goodness : 0.997264 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.68, Z:31.98 [[ 1.92385035e-02 -9.99814923e-01 -1.75016669e-05 2.44342633e+02] [ 9.96253395e-01 1.91714486e-02 -8.43304737e-02 2.32682129e+02] [ 8.43152016e-02 1.60495602e-03 9.96437841e-01 3.19773663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33710568099997 meters Centerline goodness : 0.997151 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.62, Z:31.97 [[ 7.67797980e-03 -9.99970524e-01 1.38618087e-05 2.44341110e+02] [ 9.96408479e-01 7.64946069e-03 -8.43304686e-02 2.32622584e+02] [ 8.43278768e-02 6.61299658e-04 9.96437841e-01 3.19675982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39710568099997 meters Centerline goodness : 0.997551 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.68, Z:31.98 [[-1.02733095e-03 -9.99999471e-01 -4.67052204e-05 2.44340201e+02] [ 9.96437323e-01 -1.01973276e-03 -8.43304352e-02 2.32678765e+02] [ 8.43303430e-02 -1.33174090e-04 9.96437843e-01 3.19783811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.457105681 meters Centerline goodness : 0.997173 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:232.74, Z:31.99 [[-1.46541262e-02 -9.99892622e-01 -2.39619035e-05 2.44337152e+02] [ 9.96330878e-01 -1.45999055e-02 -8.43304417e-02 2.32735011e+02] [ 8.43210366e-02 -1.25966292e-03 9.96437844e-01 3.19925979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.517105681 meters Centerline goodness : 0.997135 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:232.69, Z:31.98 [[-1.38173004e-02 -9.99904537e-01 6.58551677e-06 2.44327108e+02] [ 9.96342713e-01 -1.37686363e-02 -8.43304393e-02 2.32686178e+02] [ 8.43224795e-02 -1.15865758e-03 9.96437844e-01 3.19812946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.577105681 meters Centerline goodness : 0.997065 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:232.74, Z:31.98 [[-9.36127913e-03 -9.99956181e-01 -4.13041996e-05 2.44319188e+02] [ 9.96394217e-01 -9.32444977e-03 -8.43304160e-02 2.32743431e+02] [ 8.43263356e-02 -8.30595828e-04 9.96437845e-01 3.19811976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.637105681 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:232.80, Z:31.99 [[-6.75406760e-03 -9.99977191e-01 -9.87058978e-06 2.44307803e+02] [ 9.96415124e-01 -6.72917620e-03 -8.43304197e-02 2.32801105e+02] [ 8.43284298e-02 -5.79408560e-04 9.96437846e-01 3.19859584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.697105681 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:232.83, Z:31.98 [[ 1.43945239e-02 -9.99896393e-01 2.20263244e-05 2.44299173e+02] [ 9.96334636e-01 1.43413911e-02 -8.43304114e-02 2.32827000e+02] [ 8.43213583e-02 1.23584171e-03 9.96437846e-01 3.19796619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.757105681 meters Centerline goodness : 0.996444 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:232.88, Z:31.99 [[ 2.41914051e-02 -9.99707345e-01 -2.58633808e-05 2.44292157e+02] [ 9.96146183e-01 2.41074121e-02 -8.43303968e-02 2.32883707e+02] [ 8.43063406e-02 2.01430709e-03 9.96437847e-01 3.19875055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.817105681 meters Centerline goodness : 0.996708 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:232.82, Z:31.98 [[ 2.84407653e-02 -9.99595480e-01 6.21813224e-06 2.44287806e+02] [ 9.96034783e-01 2.83389308e-02 -8.43303945e-02 2.32822016e+02] [ 8.42961049e-02 2.40461443e-03 9.96437848e-01 3.19818137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters Centerline goodness : 0.997042 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:232.88, Z:31.98 [[ 3.89941959e-02 -9.99239435e-01 -5.70184540e-05 2.44296025e+02] [ 9.95679810e-01 3.88600976e-02 -8.43303519e-02 2.32879464e+02] [ 8.42684290e-02 3.23162214e-03 9.96437850e-01 3.19827118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters Centerline goodness : 0.996095 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:232.94, Z:32.00 [[ 2.73518996e-02 -9.99625866e-01 -2.79322459e-05 2.44302862e+02] [ 9.96064986e-01 2.72568227e-02 -8.43303616e-02 2.32935688e+02] [ 8.42995721e-02 2.27877325e-03 9.96437850e-01 3.20019035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:232.89, Z:32.00 [[ 2.58665333e-02 -9.99665405e-01 3.73668107e-06 2.44305760e+02] [ 9.96104456e-01 2.57740778e-02 -8.43303602e-02 2.32889792e+02] [ 8.43020474e-02 2.18505619e-03 9.96437851e-01 3.19973766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:232.95, Z:32.00 [[ 1.18751432e-02 -9.99929488e-01 -1.65089083e-05 2.44314509e+02] [ 9.96367574e-01 1.18342343e-02 -8.43303563e-02 2.32947337e+02] [ 8.43246053e-02 9.84986117e-04 9.96437851e-01 3.20032190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:232.95, Z:32.01 [[ 8.48549106e-03 -9.99963997e-01 1.51138424e-05 2.44319653e+02] [ 9.96401988e-01 8.45398997e-03 -8.43303506e-02 2.32953242e+02] [ 8.43271868e-02 7.30643899e-04 9.96437851e-01 3.20105165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17710568099994 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:233.01, Z:32.01 [[ 4.24770343e-03 -9.99990978e-01 -3.65559748e-05 2.44323759e+02] [ 9.96428851e-01 4.23565524e-03 -8.43303283e-02 2.33010960e+02] [ 8.43297223e-02 3.21784797e-04 9.96437853e-01 3.20074465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23710568099995 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:233.07, Z:32.02 [[-4.25156238e-03 -9.99990962e-01 -5.20223080e-06 2.44330159e+02] [ 9.96428849e-01 -4.23597899e-03 -8.43303303e-02 2.33068190e+02] [ 8.43295461e-02 -3.63719312e-04 9.96437853e-01 3.20160537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29710568099995 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:233.01, Z:32.01 [[-2.07165419e-02 -9.99785389e-01 2.49859938e-05 2.44329317e+02] [ 9.96223964e-01 -2.06448532e-02 -8.43303214e-02 2.33011158e+02] [ 8.43127390e-02 -1.72214099e-03 9.96437854e-01 3.20101807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35710568099995 meters Centerline goodness : 0.998105 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:233.07, Z:32.02 [[-1.56034174e-02 -9.99878259e-01 -3.88090212e-05 2.44325226e+02] [ 9.96316600e-01 -1.55445634e-02 -8.43302922e-02 2.33068244e+02] [ 8.43194225e-02 -1.35450682e-03 9.96437856e-01 3.20186555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41710568099995 meters Centerline goodness : 0.998078 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:233.13, Z:32.02 [[ 5.34018395e-03 -9.99985741e-01 -6.90165680e-06 2.44322165e+02] [ 9.96423645e-01 5.32174346e-03 -8.43302949e-02 2.33126533e+02] [ 8.43291292e-02 4.43462313e-04 9.96437856e-01 3.20216754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47710568099995 meters Centerline goodness : 0.997574 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:233.09, Z:32.02 [[ 1.00746314e-02 -9.99949249e-01 2.33910260e-05 2.44313507e+02] [ 9.96387307e-01 1.00367716e-02 -8.43302865e-02 2.33089866e+02] [ 8.43257719e-02 8.72903071e-04 9.96437857e-01 3.20221972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53710568099996 meters Centerline goodness : 0.997180 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:233.15, Z:32.02 [[ 2.66499458e-02 -9.99644827e-01 -3.45250095e-05 2.44308345e+02] [ 9.96083874e-01 2.65579255e-02 -8.43302630e-02 2.33147643e+02] [ 8.43012280e-02 2.21300713e-03 9.96437858e-01 3.20248549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59710568099996 meters Centerline goodness : 0.996764 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:233.21, Z:32.02 [[ 3.38778829e-02 -9.99425980e-01 -1.95118933e-06 2.44311350e+02] [ 9.95865878e-01 3.37573696e-02 -8.43302638e-02 2.33205294e+02] [ 8.42819223e-02 2.85498768e-03 9.96437859e-01 3.20231586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65710568099996 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:233.21, Z:32.02 [[ 3.06810915e-02 -9.99529224e-01 2.16792662e-05 2.44320836e+02] [ 9.95968817e-01 3.05699738e-02 -8.43302577e-02 2.33211328e+02] [ 8.42898943e-02 2.60893622e-03 9.96437859e-01 3.20195567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71710568099996 meters Centerline goodness : 0.997811 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:233.27, Z:32.02 [[ 2.51624501e-02 -9.99683375e-01 -4.19846377e-05 2.44326927e+02] [ 9.96122276e-01 2.50763574e-02 -8.43302262e-02 2.33269696e+02] [ 8.43045779e-02 2.08013327e-03 9.96437861e-01 3.20171307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77710568099997 meters Centerline goodness : 0.997961 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:233.33, Z:32.02 [[ 1.69844904e-02 -9.99855753e-01 -1.02382971e-05 2.44337824e+02] [ 9.96294114e-01 1.69248526e-02 -8.43302301e-02 2.33326973e+02] [ 8.43182390e-02 1.42210563e-03 9.96437862e-01 3.20227389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83710568099997 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:233.31, Z:32.02 [[ 9.71214317e-03 -9.99952836e-01 2.37116529e-05 2.44346167e+02] [ 9.96390886e-01 9.67554767e-03 -8.43302206e-02 2.33312682e+02] [ 8.43260138e-02 8.42653251e-04 9.96437862e-01 3.20219949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89710568099997 meters Centerline goodness : 0.998532 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:233.37, Z:32.03 [[ 2.08062906e-03 -9.99997835e-01 -3.96253094e-05 2.44349638e+02] [ 9.96435701e-01 2.07655919e-03 -8.43301910e-02 2.33369486e+02] [ 8.43300907e-02 1.35975774e-04 9.96437864e-01 3.20283904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.957105681 meters Centerline goodness : 0.998445 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:233.43, Z:32.03 [[-5.06616163e-03 -9.99987167e-01 -6.35945037e-06 2.44356691e+02] [ 9.96425080e-01 -5.04757898e-03 -8.43301935e-02 2.33426847e+02] [ 8.43290792e-02 -4.33567106e-04 9.96437865e-01 3.20290096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.017105681 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:233.42, Z:32.03 [[-1.19760941e-02 -9.99928284e-01 2.81342785e-05 2.44357315e+02] [ 9.96366377e-01 -1.19358060e-02 -8.43301821e-02 2.33416145e+02] [ 8.43244700e-02 -9.81914143e-04 9.96437865e-01 3.20285520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.077105681 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:233.47, Z:32.04 [[-1.31195824e-02 -9.99913934e-01 -3.62506356e-05 2.44356822e+02] [ 9.96352149e-01 -1.30697920e-02 -8.43301546e-02 2.33473601e+02] [ 8.43224228e-02 -1.14249481e-03 9.96437867e-01 3.20412139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.137105681 meters Centerline goodness : 0.998419 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:233.53, Z:32.05 [[-6.86645457e-03 -9.99976426e-01 -4.56108287e-06 2.44354334e+02] [ 9.96414380e-01 -6.84161072e-03 -8.43301563e-02 2.33531103e+02] [ 8.43281371e-02 -5.83593916e-04 9.96437868e-01 3.20502170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.197105681 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:233.54, Z:32.06 [[ 2.23947179e-03 -9.99997492e-01 2.65618442e-05 2.44350152e+02] [ 9.96435375e-01 2.22925454e-03 -8.43301466e-02 2.33542873e+02] [ 8.43298759e-02 2.15322146e-04 9.96437868e-01 3.20554220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.257105681 meters Centerline goodness : 0.998260 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:233.60, Z:32.06 [[ 1.36101381e-02 -9.99907377e-01 -3.71290027e-05 2.44343142e+02] [ 9.96345536e-01 1.35647879e-02 -8.43301187e-02 2.33600691e+02] [ 8.43228114e-02 1.11075125e-03 9.96437870e-01 3.20592137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.317105681 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:233.66, Z:32.06 [[ 2.38011895e-02 -9.99716712e-01 -5.32574168e-06 2.44340433e+02] [ 9.96155581e-01 2.37168556e-02 -8.43301208e-02 2.33659280e+02] [ 8.43063573e-02 2.00185192e-03 9.96437871e-01 3.20589846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:233.71, Z:32.06 [[ 3.75102019e-02 -9.99296244e-01 2.65920585e-05 2.44343239e+02] [ 9.95736708e-01 3.73743448e-02 -8.43301107e-02 2.33706831e+02] [ 8.42697691e-02 3.18971817e-03 9.96437872e-01 3.20623028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:233.76, Z:32.06 [[ 4.22409508e-02 -9.99107452e-01 -4.29106795e-05 2.44344962e+02] [ 9.95548354e-01 4.20940987e-02 -8.43300756e-02 2.33763695e+02] [ 8.42566132e-02 3.51946292e-03 9.96437874e-01 3.20639479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:233.82, Z:32.06 [[ 3.42211340e-02 -9.99414285e-01 -9.22838538e-06 2.44349976e+02] [ 9.95854220e-01 3.41000118e-02 -8.43300793e-02 2.33822544e+02] [ 8.42810006e-02 2.87668082e-03 9.96437874e-01 3.20580041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:233.82, Z:32.06 [[ 2.42600871e-02 -9.99705681e-01 2.22002827e-05 2.44358907e+02] [ 9.96144650e-01 2.41717980e-02 -8.43300711e-02 2.33817038e+02] [ 8.43047145e-02 2.06796956e-03 9.96437875e-01 3.20611780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:233.87, Z:32.06 [[ 1.19477747e-02 -9.99928622e-01 -3.75752311e-05 2.44366971e+02] [ 9.96366717e-01 1.19083838e-02 -8.43300446e-02 2.33874999e+02] [ 8.43244727e-02 9.70117664e-04 9.96437877e-01 3.20593131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67710568099994 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:233.93, Z:32.07 [[ 9.49527716e-03 -9.99954919e-01 -2.68166175e-06 2.44373601e+02] [ 9.96392955e-01 9.46167995e-03 -8.43300457e-02 2.33930799e+02] [ 8.43262694e-02 7.98065169e-04 9.96437877e-01 3.20748828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73710568099995 meters Centerline goodness : 0.997876 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:233.89, Z:32.06 [[ 1.33652396e-02 -9.99910681e-01 2.25512291e-05 2.44381301e+02] [ 9.96348903e-01 1.33157295e-02 -8.43300390e-02 2.33893925e+02] [ 8.43222065e-02 1.14956007e-03 9.96437878e-01 3.20642917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79710568099995 meters Centerline goodness : 0.998149 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:233.95, Z:32.08 [[ 8.09475725e-03 -9.99967236e-01 -3.66920679e-05 2.44386529e+02] [ 9.96405209e-01 8.06901690e-03 -8.43300134e-02 2.33951619e+02] [ 8.43275465e-02 6.46070820e-04 9.96437879e-01 3.20765953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85710568099995 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.01, Z:32.08 [[ 2.48221306e-03 -9.99996919e-01 -5.02023450e-06 2.44392609e+02] [ 9.96434809e-01 2.47379448e-03 -8.43300153e-02 2.34008019e+02] [ 8.43297679e-02 2.04322729e-04 9.96437880e-01 3.20776010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91710568099995 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:233.93, Z:32.07 [[ 6.89142994e-04 -9.99999762e-01 2.19499281e-05 2.44392287e+02] [ 9.96437645e-01 6.84837151e-04 -8.43300083e-02 2.33931287e+02] [ 8.43299733e-02 7.99871694e-05 9.96437880e-01 3.20721700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97710568099995 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:233.99, Z:32.07 [[ 2.88976630e-04 -9.99999958e-01 -3.69937373e-05 2.44390566e+02] [ 9.96437840e-01 2.91066946e-04 -8.43299826e-02 2.33988024e+02] [ 8.43299898e-02 -1.24925652e-05 9.96437882e-01 3.20749239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03710568099996 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.04, Z:32.09 [[ 1.15510580e-02 -9.99933284e-01 -9.24578846e-06 2.44391611e+02] [ 9.96371395e-01 1.15106914e-02 -8.43299857e-02 2.34044472e+02] [ 8.43244660e-02 9.64888313e-04 9.96437882e-01 3.20897502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09710568099996 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.12, Z:32.10 [[ 2.35560747e-02 -9.99722517e-01 2.42062428e-05 2.44391269e+02] [ 9.96161437e-01 2.34701244e-02 -8.43299761e-02 2.34115969e+02] [ 8.43060079e-02 2.01059654e-03 9.96437883e-01 3.21013987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15710568099996 meters Centerline goodness : 0.997943 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.17, Z:32.11 [[ 3.64659861e-02 -9.99334894e-01 -4.10839647e-05 2.44389261e+02] [ 9.95775024e-01 3.63395524e-02 -8.43299445e-02 2.34173294e+02] [ 8.42753491e-02 3.03426420e-03 9.96437885e-01 3.21075039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21710568099996 meters Centerline goodness : 0.997923 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.23, Z:32.11 [[ 4.54114862e-02 -9.98968366e-01 -9.45104573e-06 2.44392131e+02] [ 9.95409891e-01 4.52505215e-02 -8.43299481e-02 2.34231709e+02] [ 8.42433782e-02 3.82014061e-03 9.96437886e-01 3.21083607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27710568099997 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:234.24, Z:32.10 [[ 4.82286247e-02 -9.98836323e-01 2.29082522e-05 2.44401372e+02] [ 9.95278447e-01 4.80548993e-02 -8.43299394e-02 2.34239359e+02] [ 8.42307057e-02 4.08991708e-03 9.96437886e-01 3.21034172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33710568099997 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:234.30, Z:32.11 [[ 3.95228629e-02 -9.99218662e-01 -9.16895669e-05 2.44409908e+02] [ 9.95659041e-01 3.93898047e-02 -8.43298153e-02 2.34295298e+02] [ 8.42675369e-02 3.24166418e-03 9.96437893e-01 3.21090202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39710568099997 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:234.35, Z:32.11 [[ 3.06090227e-02 -9.99531433e-01 -5.34383875e-05 2.44415487e+02] [ 9.95970860e-01 3.05044945e-02 -8.43298396e-02 2.34351815e+02] [ 8.42919555e-02 2.52803090e-03 9.96437893e-01 3.21126470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.457105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:234.41, Z:32.12 [[ 2.15779686e-02 -9.99767168e-01 -1.47860506e-05 2.44424901e+02] [ 9.96205865e-01 2.15023522e-02 -8.43298465e-02 2.34407168e+02] [ 8.43105297e-02 1.80493683e-03 9.96437894e-01 3.21202628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.517105681 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.12, Z:32.09 [[ 1.27976652e-02 -9.99918106e-01 2.16348443e-05 2.44428135e+02] [ 9.96356317e-01 1.27502542e-02 -8.43298372e-02 2.34124993e+02] [ 8.43226552e-02 1.10078103e-03 9.96437895e-01 3.20896156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.577105681 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.18, Z:32.09 [[ 1.20619929e-02 -9.99927246e-01 -1.02541071e-04 2.44433644e+02] [ 9.96365314e-01 1.20276736e-02 -8.43296868e-02 2.34181978e+02] [ 8.43247849e-02 9.15015713e-04 9.96437902e-01 3.20920671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.637105681 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.24, Z:32.10 [[ 1.41384018e-02 -9.99900046e-01 -6.77844882e-05 2.44433630e+02] [ 9.96338228e-01 1.40937552e-02 -8.43297148e-02 2.34238797e+02] [ 8.43222410e-02 1.12475111e-03 9.96437903e-01 3.21014074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.697105681 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.30, Z:32.11 [[ 2.07465131e-02 -9.99784768e-01 -2.86924385e-05 2.44435232e+02] [ 9.96223389e-01 2.06750312e-02 -8.43297282e-02 2.34296038e+02] [ 8.43121709e-02 1.72096373e-03 9.96437904e-01 3.21139184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.757105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.35, Z:32.12 [[ 1.84077033e-02 -9.99830564e-01 -7.73830007e-06 2.44435298e+02] [ 9.96269059e-01 1.83427857e-02 -8.43297301e-02 2.34354264e+02] [ 8.43155836e-02 1.54460722e-03 9.96437904e-01 3.21173548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.817105681 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.07, Z:32.09 [[ 1.41604188e-02 -9.99899736e-01 2.65476491e-05 2.44438024e+02] [ 9.96338030e-01 1.41077395e-02 -8.43297194e-02 2.34074092e+02] [ 8.43208896e-02 1.22059457e-03 9.96437905e-01 3.20907235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.13, Z:32.10 [[ 1.01071987e-02 -9.99948917e-01 -9.30681726e-05 2.44436309e+02] [ 9.96386940e-01 1.00790440e-02 -8.43295880e-02 2.34131081e+02] [ 8.43262182e-02 7.59603990e-04 9.96437912e-01 3.21044670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.19, Z:32.11 [[ 8.97739603e-03 -9.99959701e-01 -6.07916593e-05 2.44435608e+02] [ 9.96397714e-01 8.95054412e-03 -8.43296113e-02 2.34186722e+02] [ 8.43267570e-02 6.96487647e-04 9.96437912e-01 3.21116742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.24, Z:32.11 [[ 1.50918251e-03 -9.99998861e-01 -2.24298973e-05 2.44436744e+02] [ 9.96436776e-01 1.50569817e-03 -8.43296215e-02 2.34243824e+02] [ 8.43295593e-02 1.04918816e-04 9.96437913e-01 3.21136105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.38, Z:32.12 [[-3.58231726e-03 -9.99993583e-01 1.40849390e-05 2.44436038e+02] [ 9.96431516e-01 -3.57074450e-03 -8.43296155e-02 2.34378414e+02] [ 8.43291247e-02 -2.88060760e-04 9.96437914e-01 3.21242329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.25, Z:32.11 [[ 1.70414381e-03 -9.99998543e-01 9.60184753e-05 2.44438083e+02] [ 9.96436489e-01 1.68997635e-03 -8.43295225e-02 2.34246779e+02] [ 8.43292374e-02 2.39385947e-04 9.96437917e-01 3.21116222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17710568099994 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.22, Z:32.10 [[ 4.29211987e-03 -9.99990789e-01 1.40729494e-05 2.44440125e+02] [ 9.96428747e-01 4.27564424e-03 -8.43295365e-02 2.34219922e+02] [ 8.43286995e-02 3.75975171e-04 9.96437920e-01 3.21043537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23710568099995 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.28, Z:32.11 [[ 5.23564555e-03 -9.99986293e-01 -4.79341036e-05 2.44438856e+02] [ 9.96424245e-01 5.22103800e-03 -8.43295014e-02 2.34277471e+02] [ 8.43285957e-02 3.93756676e-04 9.96437922e-01 3.21061330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29710568099995 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.33, Z:32.12 [[ 9.78721427e-03 -9.99952104e-01 -1.31940930e-05 2.44433334e+02] [ 9.96390187e-01 9.75346406e-03 -8.43295069e-02 2.34332205e+02] [ 8.43255965e-02 8.12204489e-04 9.96437923e-01 3.21203757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35710568099995 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.28, Z:32.12 [[ 2.15934077e-02 -9.99766835e-01 2.56488495e-05 2.44428654e+02] [ 9.96205636e-01 2.15143279e-02 -8.43294951e-02 2.34281165e+02] [ 8.43092806e-02 1.84651270e-03 9.96437924e-01 3.21239959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41710568099995 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.34, Z:32.12 [[ 3.69251598e-02 -9.99318032e-01 -5.18663153e-05 2.44428508e+02] [ 9.95758229e-01 3.67980007e-02 -8.43294477e-02 2.34337886e+02] [ 8.42738463e-02 3.06223202e-03 9.96437927e-01 3.21223573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47710568099995 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.39, Z:32.13 [[ 4.24185210e-02 -9.99099929e-01 -1.35707372e-05 2.44429037e+02] [ 9.95541014e-01 4.22685665e-02 -8.43294539e-02 2.34394171e+02] [ 8.42541251e-02 3.56362049e-03 9.96437927e-01 3.21271174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53710568099996 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.65, Z:32.14 [[ 4.70023093e-02 -9.98894780e-01 2.25279230e-05 2.44438950e+02] [ 9.95336735e-01 4.68329861e-02 -8.43294443e-02 2.34645171e+02] [ 8.42351867e-02 3.98610150e-03 9.96437928e-01 3.21358896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59710568099996 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.66, Z:32.15 [[ 3.15358688e-02 -9.99502614e-01 1.20717961e-04 2.44438427e+02] [ 9.95942654e-01 3.14133614e-02 -8.43293042e-02 2.34656802e+02] [ 8.42835678e-02 2.77962604e-03 9.96437933e-01 3.21521388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65710568099996 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:234.71, Z:32.15 [[ 1.14849687e-02 -9.99934045e-01 -1.74153180e-05 2.44447516e+02] [ 9.96372206e-01 1.14455271e-02 -8.43292764e-02 2.34713714e+02] [ 8.43239139e-02 9.51166965e-04 9.96437942e-01 3.21485697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71710568099996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:234.98, Z:32.17 [[ 7.61531012e-03 -9.99971003e-01 1.64204737e-05 2.44447311e+02] [ 9.96409060e-01 7.58679927e-03 -8.43292699e-02 2.34978426e+02] [ 8.43267000e-02 6.58555051e-04 9.96437943e-01 3.21722072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77710568099997 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:234.70, Z:32.15 [[ 1.38202510e-02 -9.99904491e-01 9.97789947e-05 2.44448256e+02] [ 9.96342904e-01 1.37626092e-02 -8.43291716e-02 2.34704168e+02] [ 8.43197441e-02 1.26486441e-03 9.96437946e-01 3.21509402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83710568099997 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:234.76, Z:32.15 [[ 1.47406952e-02 -9.99891350e-01 -3.26186568e-05 2.44446839e+02] [ 9.96329652e-01 1.46909386e-02 -8.43291211e-02 2.34761635e+02] [ 8.43204379e-02 1.21057094e-03 9.96437955e-01 3.21546247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89710568099997 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.85, Z:32.16 [[ 1.04570244e-02 -9.99945324e-01 1.30344174e-06 2.44441972e+02] [ 9.96383475e-01 1.04196661e-02 -8.43291206e-02 2.34852278e+02] [ 8.43244962e-02 8.83130400e-04 9.96437956e-01 3.21636841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.957105681 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.91, Z:32.17 [[ 3.78299924e-04 -9.99999928e-01 -8.59899077e-06 2.44444249e+02] [ 9.96437884e-01 3.77677552e-04 -8.43291196e-02 2.34907839e+02] [ 8.43291168e-02 2.33333397e-05 9.96437956e-01 3.21684667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.017105681 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.77, Z:32.16 [[-4.13407693e-03 -9.99991454e-01 3.16250626e-05 2.44443413e+02] [ 9.96429431e-01 -4.12201806e-03 -8.43291046e-02 2.34773180e+02] [ 8.43285143e-02 -3.17110863e-04 9.96437957e-01 3.21628332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.077105681 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:234.83, Z:32.16 [[-1.57273126e-02 -9.99876317e-01 -4.74309213e-05 2.44438799e+02] [ 9.96314782e-01 -1.56672920e-02 -8.43290604e-02 2.34829917e+02] [ 8.43178872e-02 -1.37352562e-03 9.96437960e-01 3.21644078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.137105681 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.89, Z:32.16 [[-2.18310056e-02 -9.99761675e-01 -1.25628835e-05 2.44434623e+02] [ 9.96200508e-01 -2.17521835e-02 -8.43290656e-02 2.34887760e+02] [ 8.43086947e-02 -1.85350345e-03 9.96437960e-01 3.21612287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.197105681 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:234.69, Z:32.16 [[-2.24448476e-02 -9.99748082e-01 2.18559557e-05 2.44426120e+02] [ 9.96186900e-01 -2.23667409e-02 -8.43290568e-02 2.34693071e+02] [ 8.43083016e-02 -1.87098021e-03 9.96437961e-01 3.21563837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.257105681 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:234.75, Z:32.16 [[-2.72232526e-02 -9.99629375e-01 -8.60374591e-05 2.44417280e+02] [ 9.96068867e-01 -2.71190299e-02 -8.43289472e-02 2.34749742e+02] [ 8.42953595e-02 -2.38140746e-03 9.96437967e-01 3.21624056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.317105681 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:234.81, Z:32.17 [[-3.48546903e-02 -9.99392389e-01 -5.13167733e-05 2.44406240e+02] [ 9.95832674e-01 -3.47262120e-02 -8.43289684e-02 2.34807497e+02] [ 8.42759471e-02 -2.99036299e-03 9.96437967e-01 3.21662461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:234.86, Z:32.18 [[-3.58016774e-02 -9.99358914e-01 -1.79920604e-05 2.44393716e+02] [ 9.95799220e-01 -3.56726344e-02 -8.43289755e-02 2.34864248e+02] [ 8.42742716e-02 -3.03703525e-03 9.96437968e-01 3.21763908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:234.78, Z:32.16 [[-3.02094454e-02 -9.99543590e-01 1.40089533e-05 2.44382760e+02] [ 9.95983149e-01 -3.01030192e-02 -8.43289702e-02 2.34784115e+02] [ 8.42909034e-02 -2.53357874e-03 9.96437968e-01 3.21566198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:234.84, Z:32.15 [[-2.24376974e-02 -9.99748242e-01 -4.54360531e-05 2.44367429e+02] [ 9.96187197e-01 -2.23539430e-02 -8.43289384e-02 2.34842121e+02] [ 8.43066922e-02 -1.93741001e-03 9.96437970e-01 3.21544879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:234.90, Z:32.16 [[-2.40093893e-02 -9.99711733e-01 -1.20884369e-05 2.44352298e+02] [ 9.96150755e-01 -2.39228480e-02 -8.43289432e-02 2.34898837e+02] [ 8.43043447e-02 -2.03672833e-03 9.96437971e-01 3.21630416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:234.87, Z:32.16 [[-1.80358207e-02 -9.99837341e-01 7.65933006e-06 2.44339111e+02] [ 9.96275880e-01 -1.79722224e-02 -8.43289414e-02 2.34866523e+02] [ 8.43153622e-02 -1.51331086e-03 9.96437971e-01 3.21553456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67710568099994 meters Centerline goodness : 0.997571 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:234.92, Z:32.16 [[-5.43006106e-03 -9.99985256e-01 -4.30032010e-05 2.44326995e+02] [ 9.96423302e-01 -5.40709267e-03 -8.43289157e-02 2.34922160e+02] [ 8.43274398e-02 -5.00760552e-04 9.96437972e-01 3.21612063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73710568099995 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:234.98, Z:32.18 [[ 1.01751524e-02 -9.99948232e-01 -8.11350521e-06 2.44317333e+02] [ 9.96386382e-01 1.01395924e-02 -8.43289191e-02 2.34978843e+02] [ 8.43246358e-02 8.49975420e-04 9.96437973e-01 3.21763545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79710568099995 meters Centerline goodness : 0.997125 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:234.98, Z:32.17 [[ 2.32844014e-02 -9.99728881e-01 2.36229327e-05 2.44315027e+02] [ 9.96167867e-01 2.31994702e-02 -8.43289102e-02 2.34982234e+02] [ 8.43054991e-02 1.98708060e-03 9.96437973e-01 3.21710360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85710568099995 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:235.04, Z:32.18 [[ 3.03149731e-02 -9.99540395e-01 -3.19739686e-05 2.44315238e+02] [ 9.95979926e-01 3.02096855e-02 -8.43288893e-02 2.35038573e+02] [ 8.42910972e-02 2.52458258e-03 9.96437975e-01 3.21786890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91710568099995 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:235.07, Z:32.18 [[ 4.15707916e-02 -9.99135561e-01 2.86817172e-06 2.44320548e+02] [ 9.95576626e-01 4.14224737e-02 -8.43288882e-02 2.35071611e+02] [ 8.42558722e-02 3.50847412e-03 9.96437975e-01 3.21791931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97710568099995 meters Centerline goodness : 0.996564 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:235.13, Z:32.18 [[ 4.73457184e-02 -9.98878561e-01 -5.13601472e-05 2.44327609e+02] [ 9.95320330e-01 4.71813983e-02 -8.43288553e-02 2.35128881e+02] [ 8.42367089e-02 3.94149044e-03 9.96437977e-01 3.21787210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03710568099996 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:235.19, Z:32.19 [[ 4.37347836e-02 -9.99043176e-01 -1.77726833e-05 2.44338781e+02] [ 9.95484497e-01 4.35804967e-02 -8.43288624e-02 2.35186013e+02] [ 8.42489491e-02 3.67041212e-03 9.96437977e-01 3.21874270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09710568099996 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:235.17, Z:32.19 [[ 3.24480437e-02 -9.99473424e-01 1.28742328e-05 2.44354001e+02] [ 9.95913312e-01 3.23313779e-02 -8.43288577e-02 2.35172396e+02] [ 8.42840359e-02 2.74912808e-03 9.96437978e-01 3.21857294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15710568099996 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:235.23, Z:32.20 [[ 1.86789130e-02 -9.99825528e-01 -1.12076304e-04 2.44365106e+02] [ 9.96263971e-01 1.86218283e-02 -8.43286923e-02 2.35229053e+02] [ 8.43160664e-02 1.46351073e-03 9.96437986e-01 3.21991591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21710568099996 meters Centerline goodness : 0.997977 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:235.28, Z:32.20 [[ 1.43395602e-02 -9.99897180e-01 -7.67596364e-05 2.44371544e+02] [ 9.96335446e-01 1.42949550e-02 -8.43287245e-02 2.35284517e+02] [ 8.43211512e-02 1.13275848e-03 9.96437986e-01 3.22035628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27710568099997 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:235.34, Z:32.20 [[ 1.34302211e-02 -9.99909810e-01 -3.99286515e-05 2.44381376e+02] [ 9.96348074e-01 1.33857494e-02 -8.43287420e-02 2.35343056e+02] [ 8.43216709e-02 1.09277082e-03 9.96437987e-01 3.21996289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33710568099997 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:235.40, Z:32.20 [[ 1.13393263e-02 -9.99935708e-01 -7.62386470e-06 2.44386418e+02] [ 9.96373917e-01 1.12995784e-02 -8.43287450e-02 2.35400032e+02] [ 8.43234095e-02 9.48634939e-04 9.96437987e-01 3.22034891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39710568099997 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:235.42, Z:32.21 [[ 1.94866245e-02 -9.99810117e-01 2.90502419e-05 2.44390754e+02] [ 9.96248830e-01 1.94147636e-02 -8.43287324e-02 2.35422788e+02] [ 8.43121559e-02 1.67222361e-03 9.96437988e-01 3.22061142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.457105681 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.48, Z:32.21 [[ 2.62527759e-02 -9.99655336e-01 -3.56032427e-05 2.44396936e+02] [ 9.96094476e-01 2.61622646e-02 -8.43287053e-02 2.35479739e+02] [ 8.43005717e-02 2.17839841e-03 9.96437990e-01 3.22124466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.517105681 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.54, Z:32.22 [[ 3.34813048e-02 -9.99439344e-01 -6.13991608e-07 2.44397924e+02] [ 9.95879330e-01 3.33620958e-02 -8.43287056e-02 2.35537244e+02] [ 8.42814467e-02 2.82282363e-03 9.96437991e-01 3.22185106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.577105681 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.55, Z:32.22 [[ 4.00857235e-02 -9.99196244e-01 3.28078998e-05 2.44397224e+02] [ 9.95637210e-01 3.99401734e-02 -8.43286927e-02 2.35548878e+02] [ 8.42596026e-02 3.41304142e-03 9.96437991e-01 3.22203811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.637105681 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.61, Z:32.23 [[ 3.88726770e-02 -9.99244171e-01 -3.49158947e-05 2.44396022e+02] [ 9.95684744e-01 3.87371545e-02 -8.43286648e-02 2.35605079e+02] [ 8.42662793e-02 3.24331573e-03 9.96437994e-01 3.22283729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.697105681 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:235.59, Z:32.23 [[ 3.51280647e-02 -9.99382819e-01 1.28014202e-06 2.44393660e+02] [ 9.95823016e-01 3.50028305e-02 -8.43286643e-02 2.35591803e+02] [ 8.42765735e-02 2.96357757e-03 9.96437994e-01 3.22271993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.757105681 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:235.65, Z:32.23 [[ 2.11978603e-02 -9.99775298e-01 -6.58489917e-05 2.44393262e+02] [ 9.96213981e-01 2.11279053e-02 -8.43286121e-02 2.35649079e+02] [ 8.43110545e-02 1.72198645e-03 9.96437997e-01 3.22334936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.817105681 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.71, Z:32.24 [[ 8.22893914e-03 -9.99966141e-01 -3.35242901e-05 2.44395618e+02] [ 9.96404237e-01 8.20245461e-03 -8.43286250e-02 2.35705271e+02] [ 8.43260447e-02 6.60531378e-04 9.96437997e-01 3.22381447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.76, Z:32.24 [[-9.45309029e-03 -9.99955319e-01 -5.59851524e-06 2.44399086e+02] [ 9.96393480e-01 -9.41894626e-03 -8.43286269e-02 2.35761480e+02] [ 8.43248062e-02 -8.02744447e-04 9.96437997e-01 3.22377645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.75, Z:32.23 [[-1.71195760e-02 -9.99853449e-01 3.00831883e-05 2.44399042e+02] [ 9.96291926e-01 -1.70611326e-02 -8.43286142e-02 2.35751288e+02] [ 8.43167690e-02 -1.41369848e-03 9.96437998e-01 3.22342561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:235.81, Z:32.23 [[-2.78263677e-02 -9.99612771e-01 -3.52497613e-05 2.44398232e+02] [ 9.96052234e-01 -2.77242788e-02 -8.43285871e-02 2.35808030e+02] [ 8.42949553e-02 -2.38166887e-03 9.96438000e-01 3.22348043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:235.80, Z:32.24 [[-3.47971335e-02 -9.99394396e-01 1.00814935e-07 2.44391393e+02] [ 9.95834554e-01 -3.46731946e-02 -8.43285871e-02 2.35802023e+02] [ 8.42775209e-02 -2.93429270e-03 9.96438001e-01 3.22352254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:235.86, Z:32.24 [[-3.18340501e-02 -9.99493166e-01 -5.95945587e-05 2.44377864e+02] [ 9.95933138e-01 -3.17156345e-02 -8.43285450e-02 2.35858920e+02] [ 8.42839144e-02 -2.74387133e-03 9.96438003e-01 3.22431219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17710568099994 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:235.92, Z:32.25 [[-2.43748859e-02 -9.99702888e-01 -2.73756856e-05 2.44363309e+02] [ 9.96142006e-01 -2.42857548e-02 -8.43285555e-02 2.35916603e+02] [ 8.43028357e-02 -2.08276899e-03 9.96438003e-01 3.22525299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23710568099995 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:235.87, Z:32.25 [[-2.31477109e-02 -9.99732056e-01 5.41599401e-06 2.44352953e+02] [ 9.96171003e-01 -2.30657154e-02 -8.43285535e-02 2.35874675e+02] [ 8.43060831e-02 -1.94661772e-03 9.96438004e-01 3.22492038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29710568099995 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:235.93, Z:32.25 [[-2.68806566e-02 -9.99638648e-01 -5.84194888e-05 2.44339345e+02] [ 9.96078077e-01 -2.67799833e-02 -8.43285094e-02 2.35932894e+02] [ 8.42964727e-02 -2.32499608e-03 9.96438006e-01 3.22533499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35710568099995 meters Centerline goodness : 0.998600 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:235.99, Z:32.25 [[-2.90194457e-02 -9.99578847e-01 -2.73137251e-05 2.44334878e+02] [ 9.96018421e-01 -2.89137762e-02 -8.43285195e-02 2.35990864e+02] [ 8.42922146e-02 -2.47437186e-03 9.96438006e-01 3.22538315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41710568099995 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:235.98, Z:32.25 [[-2.33817045e-02 -9.99726611e-01 6.49005933e-06 2.44326950e+02] [ 9.96165578e-01 -2.32989662e-02 -8.43285170e-02 2.35983604e+02] [ 8.43056137e-02 -1.96527929e-03 9.96438007e-01 3.22462706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47710568099995 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:236.04, Z:32.26 [[-1.87908457e-02 -9.99823435e-01 -4.57700925e-05 2.44316218e+02] [ 9.96262147e-01 -1.87200539e-02 -8.43284887e-02 2.36040371e+02] [ 8.43127425e-02 -1.63020263e-03 9.96438008e-01 3.22560893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53710568099996 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:236.10, Z:32.25 [[-1.52743336e-02 -9.99883340e-01 -1.29662561e-05 2.44310570e+02] [ 9.96321782e-01 -1.52188332e-02 -8.43284938e-02 2.36098919e+02] [ 8.43184588e-02 -1.30098011e-03 9.96438009e-01 3.22541889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59710568099996 meters Centerline goodness : 0.996699 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.00, Z:32.25 [[-8.53551333e-03 -9.99963572e-01 1.64424524e-05 2.44301791e+02] [ 9.96401699e-01 -8.50649642e-03 -8.43284881e-02 2.36001740e+02] [ 8.43255561e-02 -7.03403647e-04 9.96438009e-01 3.22455726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65710568099996 meters Centerline goodness : 0.996999 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.06, Z:32.25 [[ 9.07712566e-03 -9.99958801e-01 -5.24915625e-05 2.44293836e+02] [ 9.96396921e-01 9.04921942e-03 -8.43284454e-02 2.36059932e+02] [ 8.43254462e-02 7.13157465e-04 9.96438011e-01 3.22452962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71710568099996 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.12, Z:32.25 [[ 2.05251525e-02 -9.99789337e-01 -1.90817934e-05 2.44289554e+02] [ 9.96228066e-01 2.04536509e-02 -8.43284530e-02 2.36118030e+02] [ 8.43110784e-02 1.71184454e-03 9.96438012e-01 3.22501940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77710568099997 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.05, Z:32.24 [[ 2.25956053e-02 -9.99744687e-01 1.20822838e-05 2.44288701e+02] [ 9.96183632e-01 2.25141014e-02 -8.43284486e-02 2.36054306e+02] [ 8.43066464e-02 1.91748851e-03 9.96438012e-01 3.22424594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83710568099997 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.11, Z:32.25 [[ 1.79046813e-02 -9.99839697e-01 -5.66594561e-05 2.44294766e+02] [ 9.96278200e-01 1.78456824e-02 -8.43284026e-02 2.36111948e+02] [ 8.43158956e-02 1.45342459e-03 9.96438015e-01 3.22462689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89710568099997 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.17, Z:32.25 [[ 8.71386448e-03 -9.99962033e-01 -2.46952664e-05 2.44300843e+02] [ 9.96400166e-01 8.68490827e-03 -8.43284120e-02 2.36169351e+02] [ 8.43254248e-02 7.10219987e-04 9.96438015e-01 3.22541265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.957105681 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.18, Z:32.26 [[-1.03034321e-03 -9.99999469e-01 9.73286441e-06 2.44304151e+02] [ 9.96437486e-01 -1.02749390e-03 -8.43284081e-02 2.36181755e+02] [ 8.43283733e-02 -7.71890115e-05 9.96438016e-01 3.22616602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.017105681 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:236.24, Z:32.27 [[-1.88528002e-02 -9.99822269e-01 -5.41890969e-05 2.44312567e+02] [ 9.96261009e-01 -1.87810781e-02 -8.43283672e-02 2.36240160e+02] [ 8.43123617e-02 -1.64381235e-03 9.96438018e-01 3.22655313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.077105681 meters Centerline goodness : 0.997964 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:236.30, Z:32.27 [[-3.83288723e-02 -9.99265179e-01 -2.13598821e-05 2.44310633e+02] [ 9.95705884e-01 -3.81905456e-02 -8.43283756e-02 2.36296827e+02] [ 8.42655935e-02 -3.25347970e-03 9.96438018e-01 3.22736956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.137105681 meters Centerline goodness : 0.998423 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:236.28, Z:32.27 [[-4.54280406e-02 -9.98967614e-01 2.66593971e-06 2.44310099e+02] [ 9.95409300e-01 -4.52664513e-02 -8.43283748e-02 2.36279239e+02] [ 8.42414360e-02 -3.82821913e-03 9.96438019e-01 3.22733826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.197105681 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.34, Z:32.28 [[-4.51267193e-02 -9.98981270e-01 -3.49188329e-05 2.44304114e+02] [ 9.95423052e-01 -4.49630372e-02 -8.43283593e-02 2.36337270e+02] [ 8.42408814e-02 -3.84022121e-03 9.96438019e-01 3.22800608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.257105681 meters Centerline goodness : 0.997192 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.39, Z:32.29 [[-3.72945060e-02 -9.99304318e-01 -4.23741458e-06 2.44296451e+02] [ 9.95744829e-01 -3.71613067e-02 -8.43283609e-02 2.36393550e+02] [ 8.42695377e-02 -3.14920395e-03 9.96438020e-01 3.22879119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.317105681 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.54, Z:32.30 [[-3.21403062e-02 -9.99483367e-01 1.78608246e-05 2.44290133e+02] [ 9.95923179e-01 -3.20273284e-02 -8.43283562e-02 2.36536007e+02] [ 8.42853614e-02 -2.69255118e-03 9.96438020e-01 3.23014800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.59, Z:32.29 [[-2.54537939e-02 -9.99675999e-01 -4.37891244e-05 2.44289444e+02] [ 9.96115271e-01 -2.53594366e-02 -8.43283244e-02 2.36593694e+02] [ 8.42998914e-02 -2.19009480e-03 9.96438022e-01 3.22920921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters Centerline goodness : 0.996271 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:236.65, Z:32.29 [[-1.77983952e-02 -9.99841596e-01 -8.15004087e-06 2.44281465e+02] [ 9.96280195e-01 -1.77343105e-02 -8.43283279e-02 2.36651229e+02] [ 8.43148254e-02 -1.50902863e-03 9.96438023e-01 3.22933362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:236.62, Z:32.29 [[ 1.41415149e-06 -1.00000000e+00 2.48138697e-05 2.44271137e+02] [ 9.96438024e-01 -6.83393979e-07 -8.43283182e-02 2.36617389e+02] [ 8.43283182e-02 2.48447366e-05 9.96438023e-01 3.22856541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters Centerline goodness : 0.994675 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:236.67, Z:32.29 [[ 2.16700881e-02 -9.99765175e-01 -3.78877307e-05 2.44259149e+02] [ 9.96203969e-01 2.15960941e-02 -8.43282902e-02 2.36674618e+02] [ 8.43093061e-02 1.78965757e-03 9.96438025e-01 3.22901587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters Centerline goodness : 0.995001 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:236.73, Z:32.30 [[ 3.27550129e-02 -9.99463411e-01 -3.69272943e-06 2.44254863e+02] [ 9.95903338e-01 3.26386516e-02 -8.43282918e-02 2.36730660e+02] [ 8.42831626e-02 2.75849668e-03 9.96438026e-01 3.23005827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67710568099994 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:236.60, Z:32.29 [[ 3.97034696e-02 -9.99211506e-01 3.26024382e-05 2.44255366e+02] [ 9.95652451e-01 3.95592998e-02 -8.43282778e-02 2.36598432e+02] [ 8.42604957e-02 3.38058592e-03 9.96438026e-01 3.22919368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73710568099995 meters Centerline goodness : 0.995297 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:236.66, Z:32.29 [[ 3.69029408e-02 -9.99318851e-01 -7.77987552e-05 2.44264727e+02] [ 9.95759074e-01 3.67780501e-02 -8.43281765e-02 2.36656630e+02] [ 8.42735977e-02 3.03448889e-03 9.96438033e-01 3.22941457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79710568099995 meters Centerline goodness : 0.994922 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:236.71, Z:32.30 [[ 3.08921088e-02 -9.99522724e-01 -4.88007356e-05 2.44277039e+02] [ 9.95962332e-01 3.07861855e-02 -8.43281933e-02 2.36712922e+02] [ 8.42894478e-02 2.55647202e-03 9.96438033e-01 3.23020568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85710568099995 meters Centerline goodness : 0.996779 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:236.77, Z:32.30 [[ 2.62554462e-02 -9.99655266e-01 -1.58845327e-05 2.44292330e+02] [ 9.96094493e-01 2.61632642e-02 -8.43281995e-02 2.36771688e+02] [ 8.42995443e-02 2.19825201e-03 9.96438033e-01 3.22995090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91710568099995 meters Centerline goodness : 0.996737 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.76, Z:32.30 [[ 2.46826466e-02 -9.99695337e-01 1.89755207e-05 2.44296464e+02] [ 9.96134496e-01 2.45931282e-02 -8.43281917e-02 2.36763807e+02] [ 8.43020334e-02 2.10034513e-03 9.96438034e-01 3.23013587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97710568099995 meters Centerline goodness : 0.998057 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:236.82, Z:32.30 [[ 1.90241295e-02 -9.99819025e-01 -1.37210855e-05 2.44303251e+02] [ 9.96257682e-01 1.89575231e-02 -8.43281864e-02 2.36818950e+02] [ 8.43131853e-02 1.59060060e-03 9.96438035e-01 3.23039735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03710568099996 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:236.80, Z:32.30 [[ 1.16835807e-02 -9.99931744e-01 2.16700949e-05 2.44309447e+02] [ 9.96370045e-01 1.16401369e-02 -8.43281774e-02 2.36796695e+02] [ 8.43221693e-02 1.00684650e-03 9.96438035e-01 3.23002395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09710568099996 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:236.85, Z:32.30 [[ 3.26537928e-03 -9.99994668e-01 -4.62808396e-05 2.44319741e+02] [ 9.96432713e-01 3.25765089e-03 -8.43281403e-02 2.36854750e+02] [ 8.43278414e-02 2.29247620e-04 9.96438038e-01 3.23019312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15710568099996 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:236.91, Z:32.31 [[-1.61630235e-03 -9.99998694e-01 -1.65658944e-05 2.44322486e+02] [ 9.96436739e-01 -1.60914817e-03 -8.43281462e-02 2.36911906e+02] [ 8.43280094e-02 -1.52806646e-04 9.96438038e-01 3.23119152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21710568099996 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:236.91, Z:32.31 [[-8.45535921e-03 -9.99964253e-01 1.60942305e-05 2.44325150e+02] [ 9.96402407e-01 -8.42659869e-03 -8.43281400e-02 2.36910163e+02] [ 8.43252611e-02 -6.96988385e-04 9.96438039e-01 3.23050394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27710568099997 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:236.97, Z:32.31 [[-2.37268944e-02 -9.99718477e-01 -3.61949965e-05 2.44329550e+02] [ 9.96157593e-01 -2.36393288e-02 -8.43281177e-02 2.36967733e+02] [ 8.43035217e-02 -2.03690026e-03 9.96438040e-01 3.23073956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33710568099997 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:237.03, Z:32.31 [[-3.80948838e-02 -9.99274126e-01 -5.09278848e-06 2.44327546e+02] [ 9.95714769e-01 -3.79587622e-02 -8.43281196e-02 2.37026190e+02] [ 8.42667147e-02 -3.21754088e-03 9.96438040e-01 3.23107770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39710568099997 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:237.03, Z:32.31 [[-4.82761808e-02 -9.98834025e-01 2.75332144e-05 2.44320955e+02] [ 9.95276108e-01 -4.81065422e-02 -8.43281090e-02 2.37034298e+02] [ 8.42311090e-02 -4.04363588e-03 9.96438041e-01 3.23107380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.457105681 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:237.09, Z:32.32 [[-5.62069960e-02 -9.98419137e-01 -3.36624878e-05 2.44315966e+02] [ 9.94862971e-01 -5.60039550e-02 -8.43280847e-02 2.37090420e+02] [ 8.41928883e-02 -4.77331788e-03 9.96438043e-01 3.23211065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.517105681 meters Centerline goodness : 0.998060 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:237.15, Z:32.32 [[-5.36901815e-02 -9.98557642e-01 -1.89184753e-05 2.44299715e+02] [ 9.95000908e-01 -5.34973463e-02 -8.43280880e-02 2.37148956e+02] [ 8.42054446e-02 -4.54641425e-03 9.96438043e-01 3.23227448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.577105681 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:237.30, Z:32.34 [[-4.15855827e-02 -9.99134945e-01 1.28517372e-05 2.44283146e+02] [ 9.95576025e-01 -4.14385395e-02 -8.43280832e-02 2.37301437e+02] [ 8.42556674e-02 -3.49403760e-03 9.96438043e-01 3.23387202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.637105681 meters Centerline goodness : 0.996454 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:237.36, Z:32.35 [[-2.65207220e-02 -9.99648263e-01 -4.46933822e-05 2.44258447e+02] [ 9.96087663e-01 -2.64224888e-02 -8.43280529e-02 2.37358178e+02] [ 8.42972106e-02 -2.28095937e-03 9.96438045e-01 3.23464717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.697105681 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:237.42, Z:32.35 [[-1.85829127e-02 -9.99827323e-01 -8.59532186e-06 2.44246461e+02] [ 9.96265997e-01 -1.85159966e-02 -8.43280566e-02 2.37416217e+02] [ 8.43133359e-02 -1.57562414e-03 9.96438046e-01 3.23531411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.757105681 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:237.14, Z:32.32 [[-1.93328984e-02 -9.99813102e-01 1.26404129e-05 2.44235968e+02] [ 9.96251793e-01 -1.92651013e-02 -8.43280534e-02 2.37138248e+02] [ 8.43125362e-02 -1.61771266e-03 9.96438046e-01 3.23208218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.817105681 meters Centerline goodness : 0.995653 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:237.20, Z:32.32 [[-1.84732583e-02 -9.99829330e-01 -2.22696463e-04 2.44232248e+02] [ 9.96268408e-01 -1.83886826e-02 -8.43274343e-02 2.37195823e+02] [ 8.43089470e-02 -1.77966792e-03 9.96438073e-01 3.23229514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:237.25, Z:32.34 [[-1.17499743e-02 -9.99930948e-01 -1.92278634e-04 2.44224739e+02] [ 9.96369495e-01 -1.16919090e-02 -8.43275037e-02 2.37252748e+02] [ 8.43194326e-02 -1.18242657e-03 9.96438074e-01 3.23352815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters Centerline goodness : 0.996238 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:237.31, Z:32.33 [[-1.26999982e-02 -9.99919339e-01 -1.59310959e-04 2.44217223e+02] [ 9.96357897e-01 -1.26413288e-02 -8.43275660e-02 2.37311067e+02] [ 8.43187502e-02 -1.22969067e-03 9.96438074e-01 3.23337972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters Centerline goodness : 0.995478 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:237.37, Z:32.34 [[-1.70931689e-02 -9.99853893e-01 -1.23860064e-04 2.44215898e+02] [ 9.96292683e-01 -1.70218412e-02 -8.43276181e-02 2.37369037e+02] [ 8.43131890e-02 -1.56482709e-03 9.96438075e-01 3.23431753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters Centerline goodness : 0.995585 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.43, Z:32.36 [[-2.25880122e-02 -9.99744854e-01 -9.46820156e-05 2.44210254e+02] [ 9.96184027e-01 -2.24995733e-02 -8.43276509e-02 2.37426789e+02] [ 8.43040047e-02 -1.99911472e-03 9.96438076e-01 3.23565592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11710568099994 meters Centerline goodness : 0.995590 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.48, Z:32.36 [[-2.24675643e-02 -9.99747571e-01 -6.19620212e-05 2.44210762e+02] [ 9.96186667e-01 -2.23823128e-02 -8.43276750e-02 2.37484920e+02] [ 8.43050014e-02 -1.95636320e-03 9.96438076e-01 3.23605522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17710568099994 meters Centerline goodness : 0.996145 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.54, Z:32.36 [[-2.09730470e-02 -9.99780041e-01 -2.68075211e-05 2.44209541e+02] [ 9.96218949e-01 -2.08960825e-02 -8.43276862e-02 2.37542180e+02] [ 8.43085774e-02 -1.79531469e-03 9.96438077e-01 3.23602024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23710568099995 meters Centerline goodness : 0.995867 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.60, Z:32.37 [[-7.64972677e-03 -9.99970740e-01 -1.76533844e-06 2.44208080e+02] [ 9.96408923e-01 -7.62233017e-03 -8.43276868e-02 2.37598608e+02] [ 8.43252059e-02 -6.46842762e-04 9.96438077e-01 3.23693065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29710568099995 meters Centerline goodness : 0.996068 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:237.31, Z:32.34 [[ 9.85182452e-03 -9.99951469e-01 3.11454965e-05 2.44204872e+02] [ 9.96389746e-01 9.81410679e-03 -8.43276747e-02 2.37314279e+02] [ 8.43232765e-02 8.61814507e-04 9.96438078e-01 3.23375031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35710568099995 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:237.37, Z:32.33 [[ 6.26362228e-03 -9.99980349e-01 -2.61931952e-04 2.44200889e+02] [ 9.96418469e-01 6.26339988e-03 -8.43267680e-02 2.37371971e+02] [ 8.43267514e-02 2.67197188e-04 9.96438120e-01 3.23264427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41710568099995 meters Centerline goodness : 0.996697 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.43, Z:32.34 [[ 1.65625539e-02 -9.99862803e-01 -2.39152626e-04 2.44207810e+02] [ 9.96301135e-01 1.65237252e-02 -8.43268326e-02 2.37429557e+02] [ 8.43192149e-02 1.15839968e-03 9.96438121e-01 3.23388621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47710568099995 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:237.49, Z:32.35 [[ 2.24086165e-02 -9.99748873e-01 -2.09805425e-04 2.44213481e+02] [ 9.96187536e-01 2.23464885e-02 -8.43269056e-02 2.37487104e+02] [ 8.43104173e-02 1.68064374e-03 9.96438121e-01 3.23488440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53710568099996 meters Centerline goodness : 0.996280 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:237.55, Z:32.35 [[ 2.11018508e-02 -9.99777315e-01 -1.77683994e-04 2.44216531e+02] [ 9.96215945e-01 2.10416694e-02 -8.43269734e-02 2.37545660e+02] [ 8.43119338e-02 1.60244358e-03 9.96438122e-01 3.23513190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59710568099996 meters Centerline goodness : 0.995627 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:237.60, Z:32.37 [[ 1.82378222e-02 -9.99833667e-01 -1.45492640e-04 2.44226064e+02] [ 9.96272178e-01 1.81851287e-02 -8.43270289e-02 2.37601612e+02] [ 8.43156483e-02 1.39299110e-03 9.96438122e-01 3.23673784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65710568099996 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:237.66, Z:32.36 [[ 1.21817490e-02 -9.99925794e-01 -1.10206670e-04 2.44233381e+02] [ 9.96364080e-01 1.21476520e-02 -8.43270751e-02 2.37660913e+02] [ 8.43221563e-02 9.17445297e-04 9.96438123e-01 3.23576229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71710568099996 meters Centerline goodness : 0.995408 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:237.72, Z:32.36 [[ 6.25861208e-03 -9.99980412e-01 -7.54386912e-05 2.44246652e+02] [ 9.96418571e-01 6.24268112e-03 -8.43271063e-02 2.37717321e+02] [ 8.43259254e-02 4.52602134e-04 9.96438123e-01 3.23632717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77710568099997 meters Centerline goodness : 0.995444 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:237.77, Z:32.37 [[ 6.27181749e-03 -9.99980331e-01 -4.98519513e-05 2.44254298e+02] [ 9.96418500e-01 6.25368186e-03 -8.43271214e-02 2.37773446e+02] [ 8.43257745e-02 4.79210909e-04 9.96438124e-01 3.23674603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83710568099997 meters Centerline goodness : 0.995617 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:237.83, Z:32.37 [[ 2.62439477e-03 -9.99996556e-01 -1.54758661e-05 2.44259138e+02] [ 9.96434689e-01 2.61635203e-03 -8.43271278e-02 2.37830719e+02] [ 8.43268779e-02 2.05886983e-04 9.96438124e-01 3.23725854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89710568099997 meters Centerline goodness : 0.995655 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:237.82, Z:32.37 [[-2.74750155e-03 -9.99996225e-01 1.67946024e-05 2.44265440e+02] [ 9.96434360e-01 -2.73913152e-03 -8.43271214e-02 2.37815692e+02] [ 8.43268491e-02 -2.14954177e-04 9.96438125e-01 3.23699734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.957105681 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:237.87, Z:32.37 [[-6.97254099e-03 -9.99975691e-01 -3.92742047e-05 2.44263653e+02] [ 9.96413928e-01 -6.94439389e-03 -8.43270954e-02 2.37873339e+02] [ 8.43247728e-02 -6.27107494e-04 9.96438126e-01 3.23744548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.017105681 meters Centerline goodness : 0.996249 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:237.93, Z:32.38 [[-1.40635682e-03 -9.99999011e-01 -7.25276704e-06 2.44268945e+02] [ 9.96437142e-01 -1.40073594e-03 -8.43270982e-02 2.37929644e+02] [ 8.43270047e-02 -1.25820915e-04 9.96438127e-01 3.23781183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.077105681 meters Centerline goodness : 0.995678 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:238.08, Z:32.40 [[ 1.23330342e-02 -9.99923945e-01 2.60960672e-05 2.44267927e+02] [ 9.96362371e-01 1.22869051e-02 -8.43270879e-02 2.38081176e+02] [ 8.43203538e-02 1.06601000e-03 9.96438127e-01 3.23950909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.137105681 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:238.14, Z:32.40 [[ 2.82529465e-02 -9.99600805e-01 -3.56723610e-05 2.44268053e+02] [ 9.96040273e-01 2.81553202e-02 -8.43270620e-02 2.38138476e+02] [ 8.42944034e-02 2.34695687e-03 9.96438129e-01 3.24031308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.197105681 meters Centerline goodness : 0.995119 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:238.20, Z:32.40 [[ 4.11866762e-02 -9.99151469e-01 -4.03157268e-06 2.44271545e+02] [ 9.95592607e-01 4.10403143e-02 -8.43270635e-02 2.38197323e+02] [ 8.42556748e-02 3.46913766e-03 9.96438130e-01 3.24038771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.257105681 meters Centerline goodness : 0.995101 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:238.21, Z:32.40 [[ 4.41765265e-02 -9.99023740e-01 2.55636131e-05 2.44277583e+02] [ 9.95465444e-01 4.40170219e-02 -8.43270546e-02 2.38214092e+02] [ 8.42436043e-02 3.75072406e-03 9.96438130e-01 3.24036163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.317105681 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:238.27, Z:32.41 [[ 3.68816254e-02 -9.99319641e-01 -3.90536042e-05 2.44286224e+02] [ 9.95760076e-01 3.67535490e-02 -8.43270248e-02 2.38272223e+02] [ 8.42710875e-02 3.07122972e-03 9.96438132e-01 3.24078105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:238.33, Z:32.41 [[ 2.32775066e-02 -9.99729042e-01 -7.50896583e-06 2.44295004e+02] [ 9.96168125e-01 2.31952283e-02 -8.43270277e-02 2.38329678e+02] [ 8.43043528e-02 1.95544275e-03 9.96438133e-01 3.24132281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters Centerline goodness : 0.997034 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:238.30, Z:32.42 [[ 1.52789803e-02 -9.99883269e-01 2.38986314e-05 2.44301722e+02] [ 9.96321850e-01 1.52225436e-02 -8.43270188e-02 2.38304152e+02] [ 8.43168115e-02 1.31224159e-03 9.96438133e-01 3.24153902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters Centerline goodness : 0.997259 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.36, Z:32.42 [[ 4.35087938e-03 -9.99990534e-01 -3.01158767e-05 2.44306146e+02] [ 9.96428693e-01 4.33792170e-03 -8.43269997e-02 2.38361187e+02] [ 8.43263321e-02 3.36888281e-04 9.96438135e-01 3.24162787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters Centerline goodness : 0.997428 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.42, Z:32.42 [[-2.38843634e-04 -9.99999971e-01 -1.42207201e-05 2.44308752e+02] [ 9.96438107e-01 -2.36793711e-04 -8.43270024e-02 2.38418784e+02] [ 8.43269966e-02 -3.43110348e-05 9.96438135e-01 3.24200350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61710568099994 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.41, Z:32.42 [[-2.94611204e-04 -9.99999956e-01 1.75036164e-05 2.44311825e+02] [ 9.96438092e-01 -2.95037863e-04 -8.43269958e-02 2.38408417e+02] [ 8.43269973e-02 -7.40240730e-06 9.96438135e-01 3.24163345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67710568099994 meters Centerline goodness : 0.997000 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.47, Z:32.43 [[ 5.65690507e-03 -9.99983999e-01 -4.36862114e-05 2.44311410e+02] [ 9.96422174e-01 5.64043983e-03 -8.43269643e-02 2.38466387e+02] [ 8.43258613e-02 4.33499722e-04 9.96438137e-01 3.24306971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73710568099995 meters Centerline goodness : 0.996933 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.52, Z:32.44 [[ 1.62303479e-02 -9.99868279e-01 -1.39132623e-05 2.44312499e+02] [ 9.96306867e-01 1.61737108e-02 -8.43269692e-02 2.38523621e+02] [ 8.43160866e-02 1.35479417e-03 9.96438138e-01 3.24443871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79710568099995 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:238.53, Z:32.45 [[ 2.76508118e-02 -9.99617643e-01 1.84541607e-05 2.44312540e+02] [ 9.96057186e-01 2.75507678e-02 -8.43269622e-02 2.38532178e+02] [ 8.42942108e-02 2.35009036e-03 9.96438138e-01 3.24470650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85710568099995 meters Centerline goodness : 0.996532 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:238.59, Z:32.45 [[ 3.31669446e-02 -9.99449825e-01 -3.35870040e-05 2.44320885e+02] [ 9.95889831e-01 3.30516394e-02 -8.43269416e-02 2.38590380e+02] [ 8.42816571e-02 2.76341805e-03 9.96438139e-01 3.24533912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91710568099995 meters Centerline goodness : 0.996569 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:238.65, Z:32.46 [[ 3.63356709e-02 -9.99339641e-01 -1.70429385e-06 2.44325753e+02] [ 9.95780128e-01 3.62063919e-02 -8.43269423e-02 2.38648806e+02] [ 8.42713180e-02 3.06237892e-03 9.96438140e-01 3.24574155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97710568099995 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:238.68, Z:32.46 [[ 4.26845826e-02 -9.99088597e-01 3.05619031e-05 2.44338061e+02] [ 9.95530095e-01 4.25299713e-02 -8.43269306e-02 2.38680389e+02] [ 8.42487750e-02 3.62988513e-03 9.96438141e-01 3.24581011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03710568099996 meters Centerline goodness : 0.998125 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:238.74, Z:32.45 [[ 3.25488981e-02 -9.99470143e-01 -4.49690962e-05 2.44339043e+02] [ 9.95910052e-01 3.24367538e-02 -8.43268906e-02 2.38738615e+02] [ 8.42836680e-02 2.69996220e-03 9.96438143e-01 3.24535538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09710568099996 meters Centerline goodness : 0.997725 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:238.80, Z:32.47 [[ 3.75391418e-02 -9.99295158e-01 -1.03983478e-05 2.44359428e+02] [ 9.95735780e-01 3.74063091e-02 -8.43268949e-02 2.38795598e+02] [ 8.42678467e-02 3.15520526e-03 9.96438144e-01 3.24670865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15710568099996 meters Centerline goodness : 0.997910 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:238.83, Z:32.46 [[ 2.53780660e-02 -9.99677925e-01 2.32007656e-05 2.44368026e+02] [ 9.96117267e-01 2.52857172e-02 -8.43268857e-02 2.38832010e+02] [ 8.42991394e-02 2.16316395e-03 9.96438145e-01 3.24625354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21710568099996 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:238.89, Z:32.46 [[ 1.17809140e-02 -9.99930599e-01 -8.55391545e-05 2.44369987e+02] [ 9.96368919e-01 1.17461650e-02 -8.43267759e-02 2.38888840e+02] [ 8.43219283e-02 9.08217944e-04 9.96438150e-01 3.24610576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27710568099997 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:238.94, Z:32.48 [[ 1.16435672e-02 -9.99932210e-01 -4.83729971e-05 2.44377951e+02] [ 9.96370558e-01 1.16061734e-02 -8.43267973e-02 2.38944827e+02] [ 8.43216422e-02 9.33667297e-04 9.96438151e-01 3.24823372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33710568099997 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:239.00, Z:32.48 [[ 4.85746156e-03 -9.99988202e-01 -1.20429402e-05 2.44382380e+02] [ 9.96426391e-01 4.84117555e-03 -8.43268025e-02 2.39000602e+02] [ 8.43258660e-02 3.97614298e-04 9.96438152e-01 3.24828388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39710568099997 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:238.79, Z:32.46 [[ 7.87368876e-03 -9.99969001e-01 3.40457370e-05 2.44380409e+02] [ 9.96407288e-01 7.84277301e-03 -8.43267840e-02 2.38791940e+02] [ 8.43239030e-02 6.97886272e-04 9.96438153e-01 3.24636810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.457105681 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:238.85, Z:32.47 [[ 9.08370107e-03 -9.99958737e-01 -1.03264420e-04 2.44379507e+02] [ 9.96396978e-01 9.06005408e-03 -8.43266166e-02 2.38847301e+02] [ 8.43240726e-02 6.63105422e-04 9.96438162e-01 3.24699606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.517105681 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:238.90, Z:32.48 [[ 7.08781455e-03 -9.99974879e-01 -6.49467095e-05 2.44383744e+02] [ 9.96413097e-01 7.06804554e-03 -8.43266462e-02 2.38903624e+02] [ 8.43249869e-02 5.32977878e-04 9.96438163e-01 3.24805688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.577105681 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:238.96, Z:32.49 [[ 3.16010746e-03 -9.99995006e-01 -3.28129782e-05 2.44380360e+02] [ 9.96433180e-01 3.15161868e-03 -8.43266588e-02 2.38960848e+02] [ 8.43263411e-02 2.33785364e-04 9.96438163e-01 3.24926380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.637105681 meters Centerline goodness : 0.997328 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:239.02, Z:32.48 [[-1.36122993e-03 -9.99999074e-01 -1.41710049e-06 2.44379082e+02] [ 9.96437241e-01 -1.35626195e-03 -8.43266593e-02 2.39018425e+02] [ 8.43265793e-02 -1.16200024e-04 9.96438164e-01 3.24841788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.697105681 meters Centerline goodness : 0.996876 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:239.34, Z:32.51 [[-5.31011351e-03 -9.99985901e-01 3.51924753e-05 2.44369914e+02] [ 9.96424101e-01 -5.29416739e-03 -8.43266441e-02 2.39341802e+02] [ 8.43256415e-02 -4.12717422e-04 9.96438165e-01 3.25135731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.757105681 meters Centerline goodness : 0.996750 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:239.03, Z:32.48 [[ 4.65879857e-03 -9.99989141e-01 1.12971021e-04 2.44365235e+02] [ 9.96427405e-01 4.63267843e-03 -8.43265402e-02 2.39034816e+02] [ 8.43251011e-02 5.05427787e-04 9.96438168e-01 3.24820506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.817105681 meters Centerline goodness : 0.996139 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:239.09, Z:32.49 [[ 1.18173026e-02 -9.99930170e-01 -8.41823880e-05 2.44358210e+02] [ 9.96368529e-01 1.17823099e-02 -8.43263450e-02 2.39092657e+02] [ 8.43214483e-02 9.12633251e-04 9.96438187e-01 3.24884996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters Centerline goodness : 0.996537 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:239.15, Z:32.49 [[ 2.14913526e-02 -9.99769033e-01 -5.23338538e-05 2.44355863e+02] [ 9.96207951e-01 2.14192166e-02 -8.43263648e-02 2.39148594e+02] [ 8.43080091e-02 1.76015224e-03 9.96438187e-01 3.24889097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:239.21, Z:32.49 [[ 2.57317397e-02 -9.99668884e-01 -1.53095429e-05 2.44354849e+02] [ 9.96108218e-01 2.56413787e-02 -8.43263716e-02 2.39206755e+02] [ 8.42988423e-02 2.15461428e-03 9.96438188e-01 3.24927709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters Centerline goodness : 0.996304 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:239.24, Z:32.50 [[ 1.49897578e-02 -9.99887647e-01 1.69655518e-05 2.44355999e+02] [ 9.96326258e-01 1.49349366e-02 -8.43263651e-02 2.39236984e+02] [ 8.43166374e-02 1.28093502e-03 9.96438189e-01 3.25017539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:239.29, Z:32.50 [[-7.98689597e-03 -9.99968104e-01 -1.69994693e-05 2.44360359e+02] [ 9.96406419e-01 -7.95701470e-03 -8.43263583e-02 2.39293500e+02] [ 8.43235334e-02 -6.90444231e-04 9.96438189e-01 3.25032676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11710568099994 meters Centerline goodness : 0.997338 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:239.31, Z:32.51 [[-2.66293415e-02 -9.99645376e-01 1.11792453e-05 2.44358259e+02] [ 9.96084804e-01 -2.65354352e-02 -8.43263546e-02 2.39310536e+02] [ 8.42967471e-02 -2.23441981e-03 9.96438190e-01 3.25061782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17710568099994 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:239.37, Z:32.52 [[-3.42045092e-02 -9.99414854e-01 -4.41536007e-05 2.44350405e+02] [ 9.95855258e-01 -3.40789582e-02 -8.43263258e-02 2.39367962e+02] [ 8.42754778e-02 -2.92831118e-03 9.96438191e-01 3.25167741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23710568099995 meters Centerline goodness : 0.996725 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:239.43, Z:32.52 [[-3.48099692e-02 -9.99393949e-01 -1.10786880e-05 2.44336798e+02] [ 9.95834332e-01 -3.46850491e-02 -8.43263302e-02 2.39426463e+02] [ 8.42748399e-02 -2.94642949e-03 9.96438192e-01 3.25182567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29710568099995 meters Centerline goodness : 0.996183 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:239.47, Z:32.52 [[-2.84225160e-02 -9.99595998e-01 2.06802466e-05 2.44323736e+02] [ 9.96035581e-01 -2.83230236e-02 -8.43263224e-02 2.39473070e+02] [ 8.42928402e-02 -2.37616798e-03 9.96438192e-01 3.25193133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35710568099995 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:239.53, Z:32.52 [[-2.54378784e-02 -9.99676404e-01 -4.19840417e-05 2.44305997e+02] [ 9.96115843e-01 -2.53437344e-02 -8.43262914e-02 2.39530185e+02] [ 8.42979397e-02 -2.18690291e-03 9.96438194e-01 3.25239090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41710568099995 meters Centerline goodness : 0.996042 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:239.59, Z:32.52 [[-2.35759684e-02 -9.99722048e-01 -7.01357744e-06 2.44291057e+02] [ 9.96161247e-01 -2.34914041e-02 -8.43262943e-02 2.39588559e+02] [ 8.43026909e-02 -1.99506070e-03 9.96438195e-01 3.25212258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47710568099995 meters Centerline goodness : 0.995292 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:239.61, Z:32.53 [[-2.01833029e-02 -9.99796296e-01 2.42769206e-05 2.44277500e+02] [ 9.96235176e-01 -2.01134607e-02 -8.43262854e-02 2.39611675e+02] [ 8.43095961e-02 -1.67779744e-03 9.96438195e-01 3.25281815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53710568099996 meters Centerline goodness : 0.994925 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:239.67, Z:32.54 [[-1.53943139e-02 -9.99881500e-01 -3.31476522e-05 2.44264116e+02] [ 9.96320163e-01 -1.53366875e-02 -8.43262629e-02 2.39668750e+02] [ 8.43157619e-02 -1.33117063e-03 9.96438197e-01 3.25375559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59710568099996 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:239.73, Z:32.55 [[-7.19103616e-03 -9.99974144e-01 -2.43784158e-06 2.44250396e+02] [ 9.96412435e-01 -7.16521753e-03 -8.43262639e-02 2.39726480e+02] [ 8.43240661e-02 -6.08822308e-04 9.96438197e-01 3.25451241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65710568099996 meters Centerline goodness : 0.994343 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:239.74, Z:32.55 [[ 3.24628285e-03 -9.99994730e-01 2.87584492e-05 2.44230220e+02] [ 9.96432956e-01 3.23229515e-03 -8.43262533e-02 2.39744702e+02] [ 8.43257160e-02 3.02402736e-04 9.96438198e-01 3.25492339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71710568099996 meters Centerline goodness : 0.994812 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:239.80, Z:32.56 [[ 1.34950301e-02 -9.99908937e-01 -3.37251033e-05 2.44217872e+02] [ 9.96347424e-01 1.34498072e-02 -8.43262285e-02 2.39802332e+02] [ 8.43190031e-02 1.10438307e-03 9.96438200e-01 3.25585561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77710568099997 meters Centerline goodness : 0.995227 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:239.86, Z:32.56 [[ 2.13202893e-02 -9.99772697e-01 -1.60916420e-06 2.44213492e+02] [ 9.96211704e-01 2.12444864e-02 -8.43262291e-02 2.39859902e+02] [ 8.43070957e-02 1.79625654e-03 9.96438200e-01 3.25630715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83710568099997 meters Centerline goodness : 0.996141 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:239.87, Z:32.56 [[ 2.70306925e-02 -9.99634604e-01 3.03071517e-05 2.44209898e+02] [ 9.96074176e-01 2.69318599e-02 -8.43262177e-02 2.39872807e+02] [ 8.42945890e-02 2.30958423e-03 9.96438201e-01 3.25615384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89710568099997 meters Centerline goodness : 0.995881 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:239.93, Z:32.56 [[ 2.72719954e-02 -9.99628050e-01 -3.03336092e-05 2.44212919e+02] [ 9.96067508e-01 2.71774151e-02 -8.43261960e-02 2.39930833e+02] [ 8.42956552e-02 2.26952931e-03 9.96438203e-01 3.25619052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.957105681 meters Centerline goodness : 0.995859 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:239.93, Z:32.56 [[ 1.95679646e-02 -9.99808529e-01 1.67691105e-06 2.44218893e+02] [ 9.96247417e-01 1.94981262e-02 -8.43261954e-02 2.39926183e+02] [ 8.43100167e-02 1.65176263e-03 9.96438203e-01 3.25640266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.017105681 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:239.98, Z:32.57 [[ 2.57323049e-03 -9.99996687e-01 -6.35665951e-05 2.44224371e+02] [ 9.96434895e-01 2.56942550e-03 -8.43261464e-02 2.39983692e+02] [ 8.43260304e-02 1.53650638e-04 9.96438205e-01 3.25677398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.077105681 meters Centerline goodness : 0.996681 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:240.04, Z:32.58 [[-2.32645455e-02 -9.99729343e-01 -3.16032681e-05 2.44229578e+02] [ 9.96168576e-01 -2.31790177e-02 -8.43261584e-02 2.40040341e+02] [ 8.43026025e-02 -1.99329193e-03 9.96438206e-01 3.25793769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.137105681 meters Centerline goodness : 0.997899 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:240.02, Z:32.58 [[-4.38257919e-02 -9.99039188e-01 6.03009240e-07 2.44230947e+02] [ 9.95480815e-01 -4.36697442e-02 -8.43261583e-02 2.40023898e+02] [ 8.42451630e-02 -3.69506037e-03 9.96438206e-01 3.25768482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.197105681 meters Centerline goodness : 0.997759 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:240.08, Z:32.58 [[-4.85711763e-02 -9.98819722e-01 -5.80812489e-05 2.44223152e+02] [ 9.95262375e-01 -4.83932840e-02 -8.43261180e-02 2.40081622e+02] [ 8.42237790e-02 -4.15362482e-03 9.96438208e-01 3.25818780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.257105681 meters Centerline goodness : 0.997029 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:240.14, Z:32.59 [[-4.56827933e-02 -9.98955996e-01 -2.75924598e-05 2.44212738e+02] [ 9.95398030e-01 -4.55177564e-02 -8.43261280e-02 2.40137914e+02] [ 8.42368352e-02 -3.87971855e-03 9.96438209e-01 3.25867047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.317105681 meters Centerline goodness : 0.997227 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:240.15, Z:32.59 [[-4.43820154e-02 -9.99014633e-01 4.08378150e-06 2.44209439e+02] [ 9.95456336e-01 -4.42242800e-02 -8.43261265e-02 2.40145875e+02] [ 8.42432149e-02 -3.73849822e-03 9.96438209e-01 3.25886858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters Centerline goodness : 0.996636 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:240.20, Z:32.59 [[-4.24534356e-02 -9.99098445e-01 -5.29691742e-05 2.44198239e+02] [ 9.95540059e-01 -4.22977628e-02 -8.43260908e-02 2.40202866e+02] [ 8.42478257e-02 -3.63266520e-03 9.96438211e-01 3.25927307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters Centerline goodness : 0.996167 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:240.26, Z:32.60 [[-3.97373555e-02 -9.99210159e-01 -2.25952572e-05 2.44182687e+02] [ 9.95651260e-01 -3.95939156e-02 -8.43260990e-02 2.40261430e+02] [ 8.42586002e-02 -3.37339317e-03 9.96438211e-01 3.25986158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:240.28, Z:32.60 [[-3.51153600e-02 -9.99383266e-01 5.47096297e-06 2.44175619e+02] [ 9.95823658e-01 -3.49907476e-02 -8.43260972e-02 2.40282059e+02] [ 8.42742818e-02 -2.95569314e-03 9.96438212e-01 3.26017813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters Centerline goodness : 0.996730 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:240.34, Z:32.61 [[-2.60828270e-02 -9.99659784e-01 -5.24461973e-05 2.44163133e+02] [ 9.96099327e-01 -2.59855045e-02 -8.43260613e-02 2.40339495e+02] [ 8.42960094e-02 -2.25170369e-03 9.96438213e-01 3.26097173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61710568099994 meters Centerline goodness : 0.997463 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:240.40, Z:32.63 [[-2.03336301e-02 -9.99793250e-01 -2.11752299e-05 2.44152753e+02] [ 9.96232237e-01 -2.02594208e-02 -8.43260692e-02 2.40397086e+02] [ 8.43082058e-02 -1.73575055e-03 9.96438214e-01 3.26270894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67710568099994 meters Centerline goodness : 0.997038 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:240.29, Z:32.62 [[-1.78953238e-02 -9.99839866e-01 9.42971853e-06 2.44150520e+02] [ 9.96278636e-01 -1.78323795e-02 -8.43260658e-02 2.40286602e+02] [ 8.43127305e-02 -1.49964763e-03 9.96438214e-01 3.26188296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73710568099995 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:240.34, Z:32.63 [[-1.76866663e-02 -9.99843566e-01 -1.60886842e-04 2.44145447e+02] [ 9.96282617e-01 -1.76101061e-02 -8.43257421e-02 2.40343835e+02] [ 8.43097174e-02 -1.65173002e-03 9.96438229e-01 3.26263750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79710568099995 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:240.40, Z:32.63 [[-1.39909486e-02 -9.99902114e-01 -1.26919015e-04 2.44143080e+02] [ 9.96340857e-01 -1.39304148e-02 -8.43257933e-02 2.40401148e+02] [ 8.43157709e-02 -1.30625244e-03 9.96438229e-01 3.26295368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85710568099995 meters Centerline goodness : 0.997794 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:240.46, Z:32.62 [[-8.34462295e-03 -9.99965179e-01 -9.16931481e-05 2.44141886e+02] [ 9.96403606e-01 -8.30716955e-03 -8.43258316e-02 2.40460200e+02] [ 8.43221336e-02 -7.95030653e-04 9.96438230e-01 3.26229635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91710568099995 meters Centerline goodness : 0.998150 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:240.52, Z:32.62 [[-4.14321978e-03 -9.99991415e-01 -6.25910538e-05 2.44137861e+02] [ 9.96429701e-01 -4.12318459e-03 -8.43258533e-02 2.40518831e+02] [ 8.43248712e-02 -4.11748128e-04 9.96438230e-01 3.26224458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97710568099995 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:240.58, Z:32.63 [[-7.39282018e-03 -9.99972672e-01 -3.21564346e-05 2.44131901e+02] [ 9.96411021e-01 -7.36377712e-03 -8.43258649e-02 2.40575172e+02] [ 8.43233237e-02 -6.55446981e-04 9.96438231e-01 3.26295019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03710568099996 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:240.63, Z:32.64 [[-2.50912073e-02 -9.99685166e-01 -4.61894579e-06 2.44127752e+02] [ 9.96124528e-01 -2.50014489e-02 -8.43258665e-02 2.40632397e+02] [ 8.42992023e-02 -2.12043884e-03 9.96438231e-01 3.26430597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09710568099996 meters Centerline goodness : 0.997577 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:240.65, Z:32.64 [[-4.28380839e-02 -9.99082028e-01 2.75649222e-05 2.44125119e+02] [ 9.95523430e-01 -4.26878268e-02 -8.43258560e-02 2.40648517e+02] [ 8.42496239e-02 -3.58491656e-03 9.96438232e-01 3.26424019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15710568099996 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:240.71, Z:32.65 [[-4.90228478e-02 -9.98797657e-01 -1.88028006e-05 2.44117043e+02] [ 9.95240250e-01 -4.88466562e-02 -8.43258457e-02 2.40705302e+02] [ 8.42235387e-02 -4.15260641e-03 9.96438233e-01 3.26525746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21710568099996 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:240.92, Z:32.67 [[-4.53806179e-02 -9.98969769e-01 9.97112572e-06 2.44109161e+02] [ 9.95411633e-01 -4.52198227e-02 -8.43258424e-02 2.40918232e+02] [ 8.42394182e-02 -3.81683346e-03 9.96438233e-01 3.26687614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27710568099997 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:240.98, Z:32.68 [[-2.87993336e-02 -9.99585212e-01 -4.30257435e-05 2.44091796e+02] [ 9.96025030e-01 -2.86931305e-02 -8.43258154e-02 2.40975848e+02] [ 8.42896036e-02 -2.47138200e-03 9.96438234e-01 3.26771855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33710568099997 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:241.03, Z:32.68 [[-1.01779998e-02 -9.99948203e-01 -1.20034107e-05 2.44075826e+02] [ 9.96386633e-01 -1.01407360e-02 -8.43258199e-02 2.41033769e+02] [ 8.43213303e-02 -8.70228212e-04 9.96438235e-01 3.26783282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39710568099997 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:241.03, Z:32.68 [[ 9.76091441e-03 -9.99952361e-01 1.85900622e-05 2.44058983e+02] [ 9.96390782e-01 9.72458079e-03 -8.43258132e-02 2.41029232e+02] [ 8.43216152e-02 8.41620012e-04 9.96438235e-01 3.26759971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.457105681 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:241.09, Z:32.68 [[ 8.75193323e-03 -9.99961700e-01 -4.53826270e-05 2.44048303e+02] [ 9.96400042e-01 8.72458772e-03 -8.43257789e-02 2.41086739e+02] [ 8.43229452e-02 6.92794335e-04 9.96438237e-01 3.26805652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.517105681 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:241.14, Z:32.69 [[-6.50475100e-03 -9.99978844e-01 -1.62506951e-05 2.44039592e+02] [ 9.96417166e-01 -6.48021230e-03 -8.43257846e-02 2.41142987e+02] [ 8.43238953e-02 -5.64710703e-04 9.96438238e-01 3.26907538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.577105681 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:241.13, Z:32.69 [[-2.15578612e-02 -9.99767602e-01 1.68159630e-05 2.44035948e+02] [ 9.96206638e-01 -2.14824949e-02 -8.43257780e-02 2.41130996e+02] [ 8.43065422e-02 -1.80113124e-03 9.96438238e-01 3.26907403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.637105681 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:241.19, Z:32.69 [[-2.68289871e-02 -9.99640029e-01 -1.30734904e-04 2.44031749e+02] [ 9.96079874e-01 -2.67224090e-02 -8.43255502e-02 2.41189346e+02] [ 8.42917019e-02 -2.39259150e-03 9.96438249e-01 3.26858348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.697105681 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:241.24, Z:32.70 [[-3.26620253e-02 -9.99466448e-01 -1.02543160e-04 2.44021781e+02] [ 9.95906891e-01 -3.25370492e-02 -8.43255845e-02 2.41244925e+02] [ 8.42772560e-02 -2.85636781e-03 9.96438250e-01 3.26980816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.757105681 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:241.30, Z:32.71 [[-4.11726213e-02 -9.99152045e-01 -7.43227994e-05 2.44009362e+02] [ 9.95593579e-01 -4.10197129e-02 -8.43256094e-02 2.41302925e+02] [ 8.42510564e-02 -3.54590168e-03 9.96438250e-01 3.27109979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.817105681 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:241.36, Z:32.71 [[-3.31853376e-02 -9.99449214e-01 -4.87484510e-05 2.43993772e+02] [ 9.95889565e-01 -3.30630313e-02 -8.43256242e-02 2.41362112e+02] [ 8.42775671e-02 -2.84692238e-03 9.96438250e-01 3.27078854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:241.42, Z:32.72 [[-1.66586896e-02 -9.99861234e-01 -2.29699181e-05 2.43968122e+02] [ 9.96300012e-01 -1.65974188e-02 -8.43256313e-02 2.41420792e+02] [ 8.43135485e-02 -1.42763944e-03 9.96438251e-01 3.27159410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.27, Z:32.71 [[ 2.51548197e-03 -9.99996836e-01 1.30896154e-06 2.43945182e+02] [ 9.96435099e-01 2.50641208e-03 -8.43256309e-02 2.41272063e+02] [ 8.43253609e-02 2.13423900e-04 9.96438251e-01 3.27098789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:241.33, Z:32.72 [[ 2.52544383e-03 -9.99996789e-01 -2.10114256e-04 2.43931728e+02] [ 9.96435073e-01 2.53416685e-03 -8.43251060e-02 2.41330891e+02] [ 8.43253677e-02 3.59310515e-06 9.96438273e-01 3.27175687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.39, Z:32.72 [[-4.96063776e-04 -9.99999860e-01 -1.85062158e-04 2.43935811e+02] [ 9.96438176e-01 -4.78691552e-04 -8.43251610e-02 2.41388514e+02] [ 8.43250606e-02 -2.26233656e-04 9.96438274e-01 3.27229590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11710568099994 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.45, Z:32.72 [[-7.53024445e-04 -9.99999701e-01 -1.75441685e-04 2.43936615e+02] [ 9.96438018e-01 -7.35548249e-04 -8.43251810e-02 2.41447471e+02] [ 8.43250268e-02 -2.38315687e-04 9.96438274e-01 3.27171988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17710568099994 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.51, Z:32.71 [[-2.09260084e-03 -9.99997800e-01 -1.47114038e-04 2.43938197e+02] [ 9.96436129e-01 -2.07274221e-03 -8.43252305e-02 2.41506799e+02] [ 8.43247400e-02 -3.23048790e-04 9.96438274e-01 3.27115921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23710568099995 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.57, Z:32.71 [[-2.84770898e-03 -9.99995936e-01 -1.33691465e-04 2.43938639e+02] [ 9.96434275e-01 -2.82629275e-03 -8.43252518e-02 2.41565823e+02] [ 8.43245313e-02 -3.73348535e-04 9.96438274e-01 3.27084458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29710568099995 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.62, Z:32.71 [[-7.14466729e-03 -9.99974470e-01 -1.17092139e-04 2.43940290e+02] [ 9.96412919e-01 -7.10934646e-03 -8.43252748e-02 2.41623101e+02] [ 8.43222895e-02 -7.19148152e-04 9.96438274e-01 3.27129275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35710568099995 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.68, Z:32.72 [[-1.22404344e-02 -9.99925078e-01 -1.04159323e-04 2.43948262e+02] [ 9.96363737e-01 -1.21880549e-02 -8.43252908e-02 2.41681013e+02] [ 8.43177035e-02 -1.13595877e-03 9.96438274e-01 3.27198616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41710568099995 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.74, Z:32.72 [[-2.06764622e-02 -9.99786215e-01 -8.91403442e-05 2.43952407e+02] [ 9.96225414e-01 -2.05953033e-02 -8.43253067e-02 2.41739658e+02] [ 8.43054434e-02 -1.83235289e-03 9.96438274e-01 3.27246657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47710568099995 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.80, Z:32.73 [[-1.79975036e-02 -9.99838030e-01 -6.32498983e-05 2.43952040e+02] [ 9.96276981e-01 -1.79280688e-02 -8.43253262e-02 2.41798638e+02] [ 8.43105340e-02 -1.58065977e-03 9.96438275e-01 3.27308938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53710568099996 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.86, Z:32.74 [[-1.09816149e-02 -9.99939700e-01 -3.88348837e-05 2.43947963e+02] [ 9.96378227e-01 -1.09392269e-02 -8.43253374e-02 2.41856137e+02] [ 8.43198277e-02 -9.64722618e-04 9.96438275e-01 3.27386112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59710568099996 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:241.92, Z:32.74 [[ 5.07925459e-03 -9.99987100e-01 -1.89627870e-05 2.43944330e+02] [ 9.96425414e-01 5.06276271e-03 -8.43253419e-02 2.41915348e+02] [ 8.43243501e-02 4.09414877e-04 9.96438275e-01 3.27418739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65710568099996 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.97, Z:32.74 [[ 1.13068416e-02 -9.99936076e-01 -5.83182926e-06 2.43947019e+02] [ 9.96374573e-01 1.12670615e-02 -8.43253428e-02 2.41974440e+02] [ 8.43200181e-02 9.47642611e-04 9.96438275e-01 3.27402887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71710568099996 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.88, Z:32.73 [[ 2.25833468e-02 -9.99744964e-01 8.08865058e-06 2.43945826e+02] [ 9.96184163e-01 2.25022293e-02 -8.43253415e-02 2.41879343e+02] [ 8.43036535e-02 1.91240622e-03 9.96438275e-01 3.27348730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77710568099997 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:241.94, Z:32.73 [[ 2.06763999e-02 -9.99786209e-01 -1.52368506e-04 2.43946782e+02] [ 9.96225016e-01 2.06156027e-02 -8.43250526e-02 2.41938676e+02] [ 8.43101659e-02 1.59174519e-03 9.96438288e-01 3.27287849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83710568099997 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:242.00, Z:32.73 [[ 8.56258291e-03 -9.99963333e-01 -1.25446782e-04 2.43952420e+02] [ 9.96401677e-01 8.54266352e-03 -8.43250927e-02 2.41996321e+02] [ 8.43230724e-02 5.97045215e-04 9.96438289e-01 3.27290283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89710568099997 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:242.06, Z:32.73 [[-9.55983802e-03 -9.99954297e-01 -1.14091740e-04 2.43953323e+02] [ 9.96392854e-01 -9.51616840e-03 -8.43251081e-02 2.42055433e+02] [ 8.43201685e-02 -9.19814568e-04 9.96438289e-01 3.27302644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.957105681 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:242.11, Z:32.73 [[-2.48733637e-02 -9.99690605e-01 -1.02686936e-04 2.43956181e+02] [ 9.96130221e-01 -2.47761158e-02 -8.43251220e-02 2.42112994e+02] [ 8.42964880e-02 -2.19973899e-03 9.96438289e-01 3.27329006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.017105681 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:242.17, Z:32.73 [[-3.20169139e-02 -9.99487325e-01 -7.16454194e-05 2.43957302e+02] [ 9.95927638e-01 -3.18968406e-02 -8.43251484e-02 2.42170801e+02] [ 8.42796317e-02 -2.77118467e-03 9.96438289e-01 3.27289478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.077105681 meters Centerline goodness : 0.997421 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:242.23, Z:32.72 [[-1.72786221e-02 -9.99850712e-01 -6.05824624e-05 2.43964471e+02] [ 9.96289625e-01 -1.72119729e-02 -8.43251564e-02 2.42230105e+02] [ 8.43115249e-02 -1.51738019e-03 9.96438289e-01 3.27219580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.137105681 meters Centerline goodness : 0.997850 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:242.29, Z:32.75 [[-1.86413258e-02 -9.99826234e-01 -4.97226445e-05 2.43954768e+02] [ 9.96265223e-01 -1.85707387e-02 -8.43251628e-02 2.42285804e+02] [ 8.43095865e-02 -1.62146977e-03 9.96438289e-01 3.27473754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.197105681 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:242.35, Z:32.74 [[ 9.17478093e-03 -9.99957911e-01 -2.28705140e-05 2.43958497e+02] [ 9.96396333e-01 9.14403151e-03 -8.43251701e-02 2.42345676e+02] [ 8.43218300e-02 7.50876867e-04 9.96438290e-01 3.27378183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.257105681 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:242.40, Z:32.76 [[ 2.50672897e-02 -9.99685766e-01 -8.21709863e-06 2.43948957e+02] [ 9.96125158e-01 2.49787000e-02 -8.43251715e-02 2.42403573e+02] [ 8.42988789e-02 2.10561825e-03 9.96438290e-01 3.27554747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.317105681 meters Centerline goodness : 0.995304 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:242.26, Z:32.72 [[ 3.64513434e-02 -9.99335429e-01 1.76350536e-05 2.43960804e+02] [ 9.95776140e-01 3.63200282e-02 -8.43251661e-02 2.42257386e+02] [ 8.42684856e-02 3.09132615e-03 9.96438290e-01 3.27242716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters Centerline goodness : 0.165777 with order 1 Centerline is valid? [True, False] Translation: X:243.95, Y:242.00, Z:32.75 [[ 5.89569677e-02 -9.93373714e-01 9.86546474e-02 2.43950593e+02] [ 9.95915640e-01 5.17607987e-02 -7.39787691e-02 2.41997251e+02] [ 6.83821213e-02 1.02613270e-01 9.92368078e-01 3.27535298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters Centerline goodness : 0.152490 with order 1 Centerline is valid? [False, False] Translation: X:243.94, Y:241.76, Z:32.79 [[ 8.72375743e-02 -9.77096099e-01 1.94094871e-01 2.43936472e+02] [ 9.94955046e-01 7.57709439e-02 -6.57512015e-02 2.41764960e+02] [ 4.95384909e-02 1.98851647e-01 9.78776767e-01 3.27880237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters Centerline goodness : 0.138032 with order 1 Centerline is valid? [False, False] Translation: X:243.95, Y:241.52, Z:32.81 [[ 1.25535277e-01 -9.49554768e-01 2.87378909e-01 2.43952178e+02] [ 9.91889617e-01 1.14319500e-01 -5.55521357e-02 2.41515878e+02] [ 1.98967823e-02 2.92021908e-01 9.56204645e-01 3.28133625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters Centerline goodness : 0.137156 with order 1 Centerline is valid? [False, False] Translation: X:244.02, Y:241.28, Z:32.82 [[ 2.54075413e-01 -8.80346230e-01 4.00544879e-01 2.44022706e+02] [ 9.64832740e-01 2.59563062e-01 -4.15307113e-02 2.41281860e+02] [-6.74052502e-02 3.97010746e-01 9.15335458e-01 3.28207034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61710568099994 meters Centerline goodness : 0.152189 with order 1 Centerline is valid? [False, False] Translation: X:243.95, Y:241.04, Z:32.84 [[ 2.56039165e-01 -8.69397483e-01 4.22601423e-01 2.43952436e+02] [ 9.63791644e-01 2.63281531e-01 -4.22906940e-02 2.41039456e+02] [-7.44957268e-02 4.18127794e-01 9.05328413e-01 3.28379707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5938.20 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/13922 [00:00